RT journal article
T1 Towards neuromorphic FPGA-based infrastructures for a robotic arm
A1 Canas Moreno, Salvador
A1 Piñero-Fuentes, Enrique
A1 Rios-Navarro, Antonio
A1 Cascado-Caballero, Daniel
A1 Pérez Peña, Fernando
A1 Linares Barranco, Alejandro
A2 Ingeniería en AutomáticaElectrónica, Arquitectura y Redes de Computadores
K1 Neuromorphic engineering ·
K1 Spike-based motor control
K1 FPGA
K1 Robotic arm
AB Muscles are stretched with bursts of spikes that come from motor neurons connected to the cerebellum through the spinal cord.Then, alpha motor neurons directly innervate the muscles to complete the motor command coming from upper biologicalstructures. Nevertheless, classical robotic systems usually require complex computational capabilities and relative highpower consumption to process their control algorithm, which requires information from the robot’s proprioceptive sensors.The way in which the information is encoded and transmitted is an important difference between biological systems androbotic machines. Neuromorphic engineering mimics these behaviors found in biology into engineering solutions to producemore efficient systems and for a better understanding of neural systems. This paper presents the application of a Spike-basedProportional-Integral-Derivative controller to a 6-DoF Scorbot ER-VII robotic arm, feeding the motors with Pulse-FrequencyModulation instead of Pulse-Width-Modulation, mimicking the way in which motor neurons act over muscles. The presentedframeworks allow the robot to be commanded and monitored locally or remotely from both a Python software running ona computer or from a spike-based neuromorphic hardware. Multi-FPGA and single-PSoC solutions are compared. Theseframeworks are intended for experimental use of the neuromorphic community as a testbed platform and for dataset recordingfor machine learning purposes.
PB Springer
SN 1573-7527
YR 2023
FD 2023
LK http://hdl.handle.net/10498/31817
UL http://hdl.handle.net/10498/31817
LA eng
DS Repositorio Institucional de la Universidad de Cádiz
RD 10-may-2026