FPGA implementation of a configurable neuromorphic CPG-based locomotion controller.
Jose Hugo Barron-ZambranoCésar Torres-HuitzilPublished in: Neural Networks (2013)
Keyphrases
- fpga implementation
- central pattern generator
- quadruped robot
- hardware implementation
- legged robots
- control system
- mobile robot
- real time
- control scheme
- rough terrain
- fuzzy controller
- control method
- neural network
- field programmable gate array
- image processing algorithms
- pid controller
- transfer function
- control strategy
- adaptive control
- degrees of freedom
- case study
- robotic systems
- efficient implementation
- dynamic model
- feedback control
- inverted pendulum
- artificial intelligence
- machine learning