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)
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)
—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)
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)
—This paper proposes an approach to design of an artificial central pattern generator (CPG) with a feedback control loop. CPG is the biological neural network that generates rhythmic movements for locomotion of animals. A crucial point in designing of an artificial CPG controller is how to deal with sensory information on surrounding environments. Hence, we(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)
This paper proposes a novel region-based coupled Markov Random Field (MRF) model for coarse image region segmentation on silicon platforms. Coupled MRF models are classified into boundary- and region-based models, in which hidden variables are referred to as a line process and a label process, respectively. These hidden variables are crucial for detecting(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)