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Low Voltage High PVT Variation Tolerance Central Pattern Generators Design for a Biomimetic Micro Robot
 

Summary: Low Voltage High PVT Variation Tolerance Central Pattern
Generators Design for a Biomimetic Micro Robot
ABSTRACT
This paper presents a low power circuit design of electronic
central pattern generators (CPGs) of biomimetic robot which
mimic the rhythm of lamprey based swimming pattern. The
circuit has been designed using 65nm COMS Predictive
Technology Model (PTM) at 0.8V supply. The design challenges
of narrow voltage design margin and high sensitivity to parameter
variation are addressed by circuit optimization technique as well
as appropriate amplitude and time parameters' scaling. The
electronic CPGs consist of electronic neurons and electronic
synapses' interconnection, where the behaviors of the neuron and
synapse adopt Hindmarsh-Rose (HR) neural model to replicate
biological meaningful neurons and a first order chemical synapse
model is utilized to achieve active synapses. Simulation results
prove that the important properties of tonic bursting in both time
domain and phase plane agree with the mathematical analysis.
The electronic synapses are designed and optimized considering
extensive device parameter variations to accommodate the low

  

Source: Ayers, Joseph - Marine Science Center & Department of Biology, Northeastern University

 

Collections: Engineering