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SVITE: A Spike-Based VITE Neuro-Inspired Robot Controller

  • Fernando Perez-Peña
  • Arturo Morgado-Estevez
  • Alejandro Linares-Barranco
  • Manuel Jesus Dominguez-Morales
  • Angel Jimenez-Fernandez
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8226)

Abstract

This paper presents an implementation of a neuro-inspired algorithm called VITE (Vector Integration To End Point) in FPGA in the spikes domain. VITE aims to generate a non-planned trajectory for reaching tasks in robots. The algorithm has been adapted to work completely in the spike domain under Simulink simulations. The FPGA implementation consists in 4 VITE in parallel for controlling a 4-degree-of-freedom stereo-vision robot. This work represents the main layer of a complex spike-based architecture for robot neuro-inspired reaching tasks in FPGAs. It has been implemented in two Xilinx FPGA families: Virtex-5 and Spartan-6. Resources consumption comparative between both devices is presented. Results obtained for Spartan device could allow controlling complex robotic structures with up to 96 degrees of freedom per FPGA, providing, in parallel, high speed connectivity with other neuromorphic systems sending movement references. An exponential and gamma distribution test over the inter spike interval has been performed to proof the approach to the neural code proposed.

Keywords

Spike systems Motor control VITE Address Event Representation Neuro-inspired Poisson Neuromorphic engineering Anthropomorphic robots 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Fernando Perez-Peña
    • 1
  • Arturo Morgado-Estevez
    • 1
  • Alejandro Linares-Barranco
    • 2
  • Manuel Jesus Dominguez-Morales
    • 2
  • Angel Jimenez-Fernandez
    • 2
  1. 1.Applied Robotics Research LabUniversity of CadizSpain
  2. 2.Robotic and Technology of Computers LabUniversity of SevilleSpain

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