Kazuki Nakada

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This paper proposes a neuromorphic analog CMOS controller for interlimb coordination in quadruped locomotion. Animal locomotion, such as walking, running, swimming, and flying, is based on periodic rhythmic movements. These rhythmic movements are driven by the biological neural network, called the central pattern generator (CPG). In recent years, many(More)
—We propose an analog integrated circuit that implements a resonate-and-fire neuron (RFN) model based on the Volterra system. The RFN model is a simple spiking neuron model that exhibits dynamic behavior observed in biological neurons, such as fast subthreshold oscillation, post-inhibitory rebound, and frequency preference. The RFN circuit was derived from(More)
—This paper proposes an analog CMOS circuit that implements a central pattern generator (CPG) for locomotion control in a quadruped walking robot. Our circuit is based on an affine transformation of a reaction-diffusion cellular neural network (CNN), and uses differential pairs with multiple-input floating-gate (MIFG) MOS transistors to implement both the(More)
We propose an analog integrated circuit that implements a resonate-and-fire neuron (RFN) model based on the Lotka-Volterra (LV) system. The RFN model is a spiking neuron model that has second-order membrane dynamics, and thus exhibits fast damped subthreshold oscillation, resulting in the coincidence detection, frequency preference, and post-inhibitory(More)
The present paper addresses burst synchronization in out of phase observed in two pulse-coupled resonate-and-fire neuron (RFN) circuits. The RFN circuit is a silicon spiking neuron that has second-order membrane dynamics and exhibits fast subthreshold oscillation of membrane potential. Due to such dynamics, the behavior of the RFN circuit is sensitive to(More)
In this report, we propose an analog circuit that implements a locomotion controller for a quadruped walking robot. Animal locomotion, such as walking, running, swimming and flying, is based on periodic rhythmic movements driven by the biological neural network, called the central pattern generator (CPG). In recent years, many researchers have applied the(More)
We propose an analog current-mode subthreshold CMOS circuit implementing a neuromorphic oscillator. Our circuit is based on the half-center oscillator model proposed by Matsuoka, well known as a building block for constructing a neuromorphic robot locomotion controller. We modified the Matsuoka's oscillator to be suitable for analog curent-mode(More)
We propose an analog CMOS circuit that implements a class of cellular neural networks (CNNs) for locomotion control in robotics. Our circuit is constructed using multiple-input floating-gate MOS (FGMOS) FETs aiming at the voltage-mode operation, and it can be expected to reduce power consumption. Furthermore, we fabricated a prototype chip using a standard(More)
— In this report, we propose an analog neural oscil-lator circuit for a locomotion controller in a quadruped walking robot. Animal locomotion, such as walking, running, swimming and flying, is based on periodic rhythmic movements. These rhythmic movements are driven by the biological neural network, called the central pattern generator (CPG). In recent(More)