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A Parallel Swarm Library Based on Functional Programming Read chapter Read first chapter

2017 | OriginalPaper | Chapter

A SpiNNaker Application: Design, Implementation and Validation of SCPGs

Authors : Brayan Cuevas-Arteaga, Juan Pedro Dominguez-Morales, Horacio Rostro-Gonzalez, Andres Espinal, Angel F. Jimenez-Fernandez, Francisco Gomez-Rodriguez, Alejandro Linares-Barranco

Published in: Advances in Computational Intelligence

Publisher: Springer International Publishing

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Abstract

In this paper, we present the numerical results of the implementation of a Spiking Central Pattern Generator (SCPG) on a SpiNNaker board. The SCPG is a network of current-based leaky integrate-and-fire (LIF) neurons, which generates periodic spike trains that correspond to different locomotion gaits (i.e. walk, trot, run). To generate such patterns, the SCPG has been configured with different topologies, and its parameters have been experimentally estimated. To validate our designs, we have implemented them on the SpiNNaker board using PyNN and we have embedded it on a hexapod robot. The system includes a Dynamic Vision Sensor system able to command a pattern to the robot depending on the frequency of the events fired. The more activity the DVS produces, the faster that the pattern that is commanded will be.

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previous chapter Computing with Biophysical and Hardware-Efficient Neural Models
next chapter Smart Hardware Implementation of Spiking Neural Networks
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Metadata
Title
A SpiNNaker Application: Design, Implementation and Validation of SCPGs
Authors
Brayan Cuevas-Arteaga
Juan Pedro Dominguez-Morales
Horacio Rostro-Gonzalez
Andres Espinal
Angel F. Jimenez-Fernandez
Francisco Gomez-Rodriguez
Alejandro Linares-Barranco
Copyright Year
2017
Book
Advances in Computational Intelligence

Print ISBN: 978-3-319-59152-0

Electronic ISBN: 978-3-319-59153-7

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-59153-7_47

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