title: Quadrupedal Robot Locomotion: A Biologically Inspired Approach and Its Hardware Implementation.
abstract: A bioinspired locomotion system for a quadruped robot is presented. Locomotion is achieved by a spiking neural network (SNN) that acts as a Central Pattern Generator (CPG) producing different locomotion patterns represented by their raster plots. To generate these patterns, the SNN is configured with specific parameters (synaptic weights and topologies), which were estimated by a metaheuristic method based on Christiansen Grammar Evolution (CGE). The system has been implemented and validated on two robot platforms; firstly, we tested our system on a quadruped robot and, secondly, on a hexapod one. In this last one, we simulated the case where two legs of the hexapod were amputated and its locomotion mechanism has been changed. For the quadruped robot, the control is performed by the spiking neural network implemented on an Arduino board with 35% of resource usage. In the hexapod robot, we used Spartan 6 FPGA board with only 3% of resource usage. Numerical results show the effectiveness of the proposed system in both cases.
authors.affiliation: Division of Postgraduate Studies and Research, Leon Institute of Technology, 37290 Leon, GTO, Mexico.
authors.forename: A
authors.initials: A
authors.lastname: Espinal
authors.affiliation: Department of Electronics, DICIS, University of Guanajuato, 36885 Salamanca, GTO, Mexico.
authors.forename: H
authors.initials: H
authors.lastname: Rostro-Gonzalez
authors.affiliation: Division of Postgraduate Studies and Research, Leon Institute of Technology, 37290 Leon, GTO, Mexico.
authors.forename: M
authors.initials: M
authors.lastname: Carpio
authors.affiliation: Department of Electronics, DICIS, University of Guanajuato, 36885 Salamanca, GTO, Mexico.
authors.forename: E I
authors.initials: EI
authors.lastname: Guerra-Hernandez
authors.affiliation: Division of Postgraduate Studies and Research, Leon Institute of Technology, 37290 Leon, GTO, Mexico.
authors.forename: M
authors.initials: M
authors.lastname: Ornelas-Rodriguez
authors.affiliation: Division of Postgraduate Studies and Research, Leon Institute of Technology, 37290 Leon, GTO, Mexico.
authors.forename: H J
authors.initials: HJ
authors.lastname: Puga-Soberanes
authors.affiliation: Department of Organizational Studies, DCEA, University of Guanajuato, 36250 Guanajuato, GTO, Mexico.
authors.forename: M A
authors.initials: MA
authors.lastname: Sotelo-Figueroa
authors.affiliation: Division of Postgraduate Studies and Research, Tijuana Institute of Technology, 22414 Tijuana, BC, Mexico.
authors.forename: P
authors.initials: P
authors.lastname: Melin
mesh_terms: D000200:Action Potentials / Q000502:physiology; D001185:Artificial Intelligence; D003198:Computer Simulation; D006801:Humans; D008124:Locomotion / Q000502:physiology*; D008959:Models, Neurological; D016571:Neural Networks, Computer; D009473:Neuronal Plasticity; D009474:Neurons / Q000502:physiology; D012371:Robotics / Q000295:instrumentation* / Q000379:methods*