A central pattern generator circuit for rhythmic robotic chewing locomotion in low-voltage analog CMOS technology

It is well known that rhythmic animal locomotive behavior such as walking, running, swimming, and flying is driven by biological neural networks with a phase-locked oscillatory behavior called a central pattern generator (CPG). This article describes a CPG circuit for the locomotion control of rhythmic robotic chewing. A two-neuron CPG model, which is slightly modified from the Matsuoka oscillator model, was implemented in a low-voltage analog CMOS circuit using the IBM 130 nm CMOS technology. A new concept of a −3 dB rhythmic chewing bandwidth has been introduced to account for the time constants in the model. The significance of the −3 dB chewing bandwidth is that any effort by the animal to chew at a faster rate than the inherent chewing bandwidth of that animal is likely to result in a reduced chewing force. Compared with the digital implementation, the analog CPG consumes less power and occupies less silicon area. The analog CPG consists of compensated current-mode low-pass filters and current mirrors implementing the neurons, which are cross-connected by inhibitory synaptic links. There are two tonic sensory inputs, two internal states, and two adaptation outputs for muscles for the CPG circuit.     

1.5Gbps高速串行数据恢复电路的标准单元实现

在高速串行接口芯片的设计中,高速串行数据恢复电路是设计中的一个难点,由于其高达千兆的传输频率,大多采用模拟电路方式实现·然而同数字电路相比,模拟电路在噪声影响、面积、功耗、工艺敏感度和可测性方面都存在较大的劣势·提出了一个应用于SATA1·0中1·5Gbps高速串行接口的高速串行数据恢复电路,它没有用PLL或DLL等模拟电路的方法,它采用完全数字电路的设计,并用标准单元实现·与用模拟电路实现的串行数据恢复电路相比,此电路设计更加简单易实现,数据恢复快速,而且面积小功耗低·电路被应用在PATA/SATA桥接芯片的设计中,并在标准0·18CMOS工艺下投片生产·     

A Simplified CPGs Network with Phase Oscillator Model for Locomotion Control of a Snake-like Robot

CPG (Central pattern generator) is a dynamical system of coupled nonlinear oscillators or neural networks inspired by a control mechanism in animal bodies. Without any rhythmic inputs, the CPG has the ability to produce oscillatory patterns. This paper presents a novel structure of a CPG network which can produce rhythmic motion that imitates movement of animals such as snake and lamprey. The focus is on the locomotion control of a snake-like robot, where phase oscillator has been adopted as the dynamical model to control the harmonic motion of the CPG network. There are two main points addressed in this paper: (1) simple network structure of unidirectional coupling oscillators, and (2) a single parameter to control the body shape and to control the forward and backward movement of the snake-like robot. The proposed CPG network is designed to have a simple structure with less complexity, less mathematical computation, fast convergence speed and exhibit limit cycle behavior. In addition, a new parameter, τ is introduced to control the smoothness of the CPG output as well as the speed of the snake-like robot. Simulation and experimental results show that the proposed CPG network can be used to control the serpentine locomotion of a snake-like robot.     

Using building blocks to design analog neuro-fuzzy controllers

We present a parallel architecture for fuzzy controllers and a methodology for their realization as analog CMOS chips for low- and medium-precision applications. These chips can be made to learn through the adaptation of electrically controllable parameters guided by a dedicated hardware-compatible learning algorithm. Our designs emphasize simplicity at the circuit level-a prerequisite for increasing processor complexity and operation speed. Examples include a three-input, four-rule controller chip in 1.5-μm CMOS, single-poly, double-metal technology     

Architecture of a testable analog fuzzy logic controller

The authors discuss problems of testability of analog fuzzy logic controllers implemented as VLSI chips. Enhancements to standard architecture of fuzzy logic controllers which facilitate testing are proposed. To improve controllability and observability of internal nodes, analog switching blocks are introduced together with some additional circuitry. These blocks allow one to test each basic cell of a fuzzy logic controller (e.g., membership function cell, MINIMAX cell, etc.) separately. The analog switching blocks do not contribute to the power consumption in a working chip end therefore can be used in low-power analog fuzzy logic controllers     

基于循环抑制CPG 模型控制的蛇形机器人三维运动

具有三维运动能力和独特的节律运动方式，使生物蛇能在复杂的地形环境中生存. 大多数动物节律运动是由中央模式发生器(Central pattern generator, CPG) 控制的. 以此为理论依据, 首次以循环抑制建模机理构建蛇形机器人组合关节运动控制的CPG 模型. 证明该模型是节律输出型CPG 中微分方程维数最少的. 采用单向激励方式连接该类CPG 构建蛇形机器人三维运动神经网络控制体系，给出该CPG 网络产生振荡输出的必要条件. 应用蛇形机器人动力学模型仿真得到控制三维运动的CPG 神经网络参数，利用该CPG 网络的输出使\勘查者"成功实现三维运动. 该结果为建立未探明的生物蛇神经网络模型提供了一种全新的方法.     

动物运动指令的中枢模式发生器对机器人运动控制的启示

动物运动指令的中枢模式发生器（central pattern generator, CPG）在动物的节律运动中发挥着重要的作用,对机器人的仿生控制方法研究具有借鉴意义.首先介绍了CPG的神经环路和控制机制,然后分析了组成CPG的非线性振荡器的典型数学模型,接着介绍了利用CPG进行机器人运动控制在国内外的发展现状,最后展望了其应用前景.     

Gaits-transferable CPG controller for a snake-like robot

With slim and legless body, particular ball articulation, and rhythmic locomotion, a nature snake adapted itself to many terrains under the control of a neuron system. Based on analyzing the locomotion mechanism, the main functional features of the motor system in snakes are specified in detail. Furthermore, a bidirectional cyclic inhibitory （BCl） CPG model is applied for the first time to imitate the pattern generation for the locomotion control of the snake-like robot, and its characteristics are discussed, particularly for the generation of three kinds of rhythmic locomotion. Moreover, we introduce the neuron network organized by the BCI-CPGs connected in line with unilateral excitation to switch automatically locomotion pattern of a snake-like robot under different commands from the higher level control neuron and present a necessary condition for the CPG neuron network to sustain a rhythmic output. The validity for the generation of different kinds of rhythmic locomotion modes by the CPG network are verified by the dynamic simulations and experiments. This research provided a new method to model the generation mechanism of the rhythmic pattern of the snake.     

VLSI低功耗设计方法的研究

针对近年来VLSI 功耗问题越来越被关注,尤其是在电池供电的便携式设备中CMOS 电路的功耗问题尤为重 要。本文对VLSI 的低功耗设计方法进行了研究,首先对VLSI 作了简介,其次分析了VLSI 的功耗来源,最后就如何实现VLSI 开关功耗的低功耗设计,着重讨论了几项技术。本文对电子行业从业人员有一定的积极意义。     

Self-reconfigurable M-TRAN structures and walker generation

The M-TRAN is a modular robot capable of both three-dimensional self-reconfiguration and whole body locomotion. Introducing regularity in allowed structures reduced difficulties of its reconfiguration problems. Several locomotion patterns in various structures were designed systematically using a CPG controller model and GA optimization. Then they were verified by experimentation. Results showed a feasible scenario of operation with multiple M-TRAN modules, which is presented herein, including metamorphosis of a regular structure, generation of walkers from the structure, walker locomotion, and reassembling of walkers to the structure.     

机器海豚多模态游动CPG控制

受自然界海豚超凡的水中游动技能启发,机器海豚在军事和民用上具有潜在的广泛应用前景,因此受到研究人员的极大关注. 然而,要实现机器海豚在水中自如地机动游动,必须为机器海豚设计一个具有丰富游动技能的多模态控制器. 为此,通过振荡器建模与分析、中枢模式发生器（Central pattern generation,CPG）与机器海豚关节配对、CPG单元间耦合等环节建立了机器海豚的链式弱耦合CPG运动控制模型,提出一种基于CPG激发产生多模态振荡波形控制机器海豚运动的方法. 详细阐述了机器海豚样机研制、控制器设计、运动控制实现与实验测试等内容. 向前直游、转弯、浮潜等游动实验结果验证了所提出的机器海豚CPG运动控制方法的有效性和实用性.     

4级灰度STN LCD驱动控制芯片的设计

提出了一种4级灰度的STNLCD驱动控制芯片的总体设计方案,重点讨论了关键模块——接口电路、SRAM模块、显示控制电路以及电源电路的设计。在实现多种显示功能的前提下,采用省电模式、门控时钟和重定时方法进行了低功耗优化设计。基于SMIC0．35umCMOS高压模型对驱动控制芯片的功能进行了仿真验证。     

Controlling swimming and crawling in a fish robot using a central pattern generator

Online trajectory generation for robots with multiple degrees of freedom is still a difficult and unsolved problem, in particular for non-steady state locomotion, that is, when the robot has to move in a complex environment with continuous variations of the speed, direction, and type of locomotor behavior. In this article we address the problem of controlling the non-steady state swimming and crawling of a novel fish robot. For this, we have designed a control architecture based on a central pattern generator (CPG) implemented as a system of coupled nonlinear oscillators. The CPG, like its biological counterpart, can produce coordinated patterns of rhythmic activity while being modulated by simple control parameters. To test our controller, we designed BoxyBot, a simple fish robot with three actuated fins capable of swimming in water and crawling on firm ground. Using the CPG model, the robot is capable of performing and switching between a variety of different locomotor behaviors such as swimming forwards, swimming backwards, turning, rolling, moving upwards/downwards, and crawling. These behaviors are triggered and modulated by sensory input provided by light, water, and touch sensors. Results are presented demonstrating the agility of the robot and interesting properties of a CPG-based control approach such as stability of the rhythmic patterns due to limit cycle behavior, and the production of smooth trajectories despite abrupt changes of control parameters. The robot is currently used in a temporary 20-month long exhibition at the EPFL. We present the hardware setup that was designed for the exhibition, and the type of interactions with the control system that allow visitors to influence the behavior of the robot. The exhibition is useful to test the robustness of the robot for long term use, and to demonstrate the suitability of the CPG-based approach for interactive control with a human in the loop. This article is an extended version of an article presented at BioRob2006 the first IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics.     

一种用于人体传感器网络的接收器模拟前端

设计了一种用于人体传感器网络的低功耗接收器模拟前端,电路物理层信道利用人体进行通信,并采用了一种宽带信号传输技术,可以在0.8 V电压供电,100 mV输入敏感度条件下传输20 Mb/s的数据。片上的电压偏置电路提供了50Ω的输入阻抗。放大器采用了一种低压低功耗的Cascode结构,具有58 dB的增益,25 MHz的增益带宽积。另外采用了一种结构简单,功耗极低的电流反馈型Schmitt触发器。电路采用SMIC0.13μm标准CMOS工艺设计,面积0.02 mm2,供电电压0.8 V,功耗仅为2.2 mW。     

基于FPAA的模糊自整定PID控制器设计

为提高过程控制的响应速度,提出了一种基于现场可编程模拟阵列(FPAA)模糊自整定PID控制器的硬件实现方法。在8块AN221E04芯片中实现模拟乘法器、求小求和以及除法等单元电路,由各单元电路组合成完整的控制器。作为硬件电路,该控制器与软件编程实现的模糊PID控制器相比具有很强的实时性;作为纯模拟电路,该控制器内部传输信号均为连续值的模拟量,不需要A/D、D/A转换电路,与采用数字电路实现的控制器相比具有电路简单、运算速度快的特点。仿真实验结果表明：基于FPAA的模糊自整定PID控制器超调量小、稳态误差小,控制器响应时间降到了微秒级。     

Multivariable harmonic balance for central pattern generators

The central pattern generator (CPG) is a nonlinear oscillator formed by a group of neurons, providing a fundamental control mechanism underlying rhythmic movements in animal locomotion. We consider a class of CPGs modeled by a set of interconnected identical neurons. Based on the idea of multivariable harmonic balance, we show how the oscillation profile is related to the connectivity matrix that specifies the architecture and strengths of the interconnections. Specifically, the frequency, amplitudes, and phases are essentially encoded in terms of a pair of eigenvalue and eigenvector. This basic principle is used to estimate the oscillation profile of a given CPG model. Moreover, a systematic method is proposed for designing a CPG-based nonlinear oscillator that achieves a prescribed oscillation profile.     

“腾越-Ⅱ”嵌入式异步微处理器的设计与实现

嵌入式系统对处理器功耗开销有严格的限制,异步电路技术可以作为设计低功耗处理器的有效方法之一。针对嵌入式多媒体应用,本文设计实现了一款低功耗异步微处理器——腾越-Ⅱ。处理器中包含一个异步TTA微处理器内核、一个同步TTA微处理器内核、两个存储控制器和多个外部通信接口。异步内核通过基于宏单元的异步电路设计方法实现,其它部分通过基于标准单元的半定制设计流程实现。处理器芯片采用UMC0.18μmCMOS工艺实现,基片面积为4.89×4.89mm2,工作电压为1.8V。经测试,处理器工作主频达到200MHz,且异步内核的功耗开销低于同步内核的50%。     

Modal Locomotion: Animating Virtual Characters with Natural Vibrations

We present a general method to intuitively create a wide range of locomotion controllers for 3D legged characters. The key of our approach is the assumption that efficient locomotion can exploit the natural vibration modes of the body, where these modes are related to morphological parameters such as the shape, size, mass, and joint stiffness. The vibration modes are computed for a mechanical model of any 3D character with rigid bones, elastic joints, and additional constraints as desired. A small number of vibration modes can be selected with respect to their relevance to locomotion patterns and combined into a compact controller driven by very few parameters. We show that these controllers can be used in dynamic simulations of simple creatures, and for kinematic animations of more complex creatures of a variety of shapes and sizes.     

Wave CPG model for autonomous decentralized multi-legged robot: Gait generation and walking speed control

In this paper, we propose a method to control gait generation and walking speed control for an autonomous decentralized multi-legged robot by using a wave Central Pattern Generator (CPG) model. The wave CPG model is a mathematical model of nonlinear oscillators and generates rhythmic movements of the legs. The gait generation and the walking speed control are achieved by controlling the virtual energy of the oscillators (Hamiltonian). A real robot experiment showed the relationship to the Hamiltonian, the actual energy consumption and the walking speed, and the effectiveness of the proposed method was verified.     

多自由度篮球机器人复杂路径跟踪控制系统设计

针对篮球机器人复杂路径识别精度偏低,运行能耗较大等问题,提出基于超声波的多自由度篮球机器人复杂复杂路径跟踪控制系统设计方法;通过MAX232芯片设计控制系统的接口电路,采用低功耗CMOS监控电路芯片MAX706构建监控电路,超声波能够精确提供机器人所遇障碍物距离信息,如有障碍则将接收到的信息进行转换,以电信号的形式反馈给主控板;软件部分利用主控板控制器的程序以及超声波测距程序的设计实现;实验表明,该控制系统有效提高了篮球机器人对障碍物的识别率,减小了系统运行所用能耗。