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)
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)
In this paper, we propose a moving object detection algorithm for the advanced driver assistance system (ADAS) and its digital VLSI implementation. The algorithm is based on parallel processing inspired by neuronal propagation underlying sequence coding in a model of the hippocampus. We have implemented this algorithm on an FPGA, and have verified 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)
Abstract—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(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 proposes analog integrated circuit (IC) implementation of a biologically inspired controller in quadruped robot locomotion. Our controller is based on the central pattern generator (CPG), which is known as the biological neural network that generates fundamental rhythmic movements in locomotion of animals. Many CPG-based controllers for(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 current-mode subthreshold CMOS circuit implementing a piecewise linear neuromorphic oscillator. Our circuit was derived from a piecewise linear oscillator model proposed by Matsuoka, well known as a building block for constructing a robot locomotion controller. We modified Matsuoka’s oscillator to be suitable for analog current-mode(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)