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Low Power CMOS Electronic Central Pattern Generator Design

Summary: 1
Low Power CMOS Electronic
Central Pattern Generator Design
for a Biomimetic Underwater Robot
Young Jun Lee, Member, IEEE, Jihyun Lee, Student Member, IEEE,
Kyung Ki Kim, Yong-Bin Kim, Member, IEEE
and Joseph Ayers, Member, IEEE
Electrical and Computer Engineering Department, Department of Biology,
Northeastern University, Boston, MA, USA
yjlee@ece.neu.edu, jlee@ece.neu.edu, kkkim@ece.neu.edu, ybk@ece.neu.edu, lobster@neu.edu
Abstract-- This paper, presents a feasability study of a central
pattern generator-based analog controller for an autonomous
robot. The operation of a neuronal circuit formed of electronic
neurons based on Hindmarsh-Rose neuron dynamics and first
order chemical synapses ls modeled. The controller is based on
a standard CMOS process with 2V supply voltage. In order
to achieve low power consumption, CMOS subthreshold circuit
techniques are used. The controller generates an excellent replica
of the walking motor program and allows switching between
walking in different directions in response to different command


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


Collections: Engineering