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Open-loop neuromorphic controller implemented on vlsi devices


Donati, Elisa; Perez-Pena, Fernando; Bartolozzi, Chiara; Indiveri, Giacomo; Chicca, Elisabetta (2018). Open-loop neuromorphic controller implemented on vlsi devices. In: BioRob IEEE Conference 2018, University of Twente, 25 August 2018 - 29 August 2018, 827-832.

Abstract

An ever increasing amount of robotic platforms are being equipped with a new generation of neuromorphic computing architectures. Neuromorphic computing systems represent a promising brain-inspired technology that use asynchronous pulses to encode, transmit, and process sensory signals, typically implemented in compact low-latency and low-power devices. However, although multiple examples of sensing and processing neuromorphic devices have been successfully deployed on robotic platforms, no example of event-based neuromorphic motor controller has been proposed yet. In this paper, we present an open-loop neuromorphic controller implemented using a full-custom spiking neural network VLSI chip interfaced to motors for performing position control. The proposed controller is based on biologically inspired principles by which the discharge of motor-neuron populations produces muscle contractions. Following these principles, we use the spikes of the silicon neurons present in the neuromorphic chip to encode the target position and drive the motors using Pulse Frequency Modulation (PFM) technique, rather than the more traditional Pulse Width Modulation (PWM) one.

Abstract

An ever increasing amount of robotic platforms are being equipped with a new generation of neuromorphic computing architectures. Neuromorphic computing systems represent a promising brain-inspired technology that use asynchronous pulses to encode, transmit, and process sensory signals, typically implemented in compact low-latency and low-power devices. However, although multiple examples of sensing and processing neuromorphic devices have been successfully deployed on robotic platforms, no example of event-based neuromorphic motor controller has been proposed yet. In this paper, we present an open-loop neuromorphic controller implemented using a full-custom spiking neural network VLSI chip interfaced to motors for performing position control. The proposed controller is based on biologically inspired principles by which the discharge of motor-neuron populations produces muscle contractions. Following these principles, we use the spikes of the silicon neurons present in the neuromorphic chip to encode the target position and drive the motors using Pulse Frequency Modulation (PFM) technique, rather than the more traditional Pulse Width Modulation (PWM) one.

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Additional indexing

Item Type:Conference or Workshop Item (Speech), not_refereed, original work
Communities & Collections:07 Faculty of Science > Institute of Neuroinformatics
Dewey Decimal Classification:570 Life sciences; biology
Language:English
Event End Date:29 August 2018
Deposited On:12 Mar 2019 13:32
Last Modified:30 Oct 2019 08:11
Publisher:IEEE
Number of Pages:6
OA Status:Closed
Publisher DOI:https://doi.org/10.1109/BIOROB.2018.8487937

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