An analog CMOS central pattern generator for interlimb coordination in quadruped locomotion

Area of Science:

• Robotics
• Neuromorphic Engineering
• Biomimetic Systems

Background:

• Animal locomotion relies on central pattern generators (CPGs) for rhythmic movements.
• Robotic locomotion often uses digital CPG controllers, leading to high power consumption.
• Analog circuits offer potential for lower power and miniaturized robotic controllers.

Purpose of the Study:

• To propose a neuromorphic analog CMOS controller for interlimb coordination in quadruped locomotion.
• To address the power consumption issues associated with digital CPG controllers.
• To demonstrate the feasibility of analog CPGs for efficient robotic control.

Main Methods:

• Designed a neuromorphic controller using analog CMOS circuits.
• Operated CMOS transistors in the subthreshold region for low power.
• Utilized low supply voltage for further power reduction.
• Verified functionality through computer simulations.

Main Results:

• The analog CMOS controller demonstrated the ability to generate various periodic rhythmic patterns.
• The circuit achieved prompt transitions between different rhythmic patterns.
• Simulations indicated significant power consumption reduction compared to digital approaches.

Conclusions:

• The proposed analog CMOS CPG controller is a viable solution for efficient interlimb coordination in quadruped robots.
• This approach offers potential for reduced power consumption, lower production costs, and miniaturization of robotic systems.
• Further research can explore real-world implementation and diverse locomotion gaits.