Low power CMOS adaptive electronic central pattern generator design

In this paper, low power VLSI implementation of adaptive analog controller for autonomous robot is presented using standard CMOS process with 2V supply voltage. Electronic neuron and synapse circuit are developed based on Hindmarsh-Rose neuron model and first order synapse model. In order to achieve low power consumption, CMOS subthreshold circuit techniques are used. The power consumption is 4.8 mW and die size is 2mm by 2mm. Simulation results demonstrate that the proposed design is viable for adaptive analog controller for autonomous robots

[1]  Joseph Ayers,et al.  Architectures for Adaptive Behavior in Biomimetic Underwater Robots , 2004 .

[2]  J. Hindmarsh,et al.  A model of neuronal bursting using three coupled first order differential equations , 1984, Proceedings of the Royal Society of London. Series B. Biological Sciences.

[3]  P Varona,et al.  Synchronous behavior of two coupled electronic neurons. , 2000, Physical review. E, Statistical physics, plasmas, fluids, and related interdisciplinary topics.

[4]  Yong-Bin Kim,et al.  Low power real time electronic neuron VLSI design using subthreshold technique , 2004, 2004 IEEE International Symposium on Circuits and Systems (IEEE Cat. No.04CH37512).

[5]  R A Brooks,et al.  New Approaches to Robotics , 1991, Science.

[6]  F. Lombardi,et al.  Test methodology for low power VLSI neural oscillator circuit , 2004, Proceedings of the 21st IEEE Instrumentation and Measurement Technology Conference (IEEE Cat. No.04CH37510).

[7]  F. Delcomyn.  Neural basis of rhythmic behavior in animals. , 1980, Science.

[8]  Joel L. Davis,et al.  Neurotechnology for Biomimetic Robots , 2002 .