A FPGA-Based Neuromorphic Locomotion System for Multi-Legged Robots

Abstract

The paper develops a neuromorphic system on a Spartan 6 field programmable gate array (FPGA) board to generate locomotion patterns (gaits) for three different legged robots (biped, quadruped, and hexapod). The neuromorphic system consists of a reconfigurable FPGA-based architecture for a 3G artificial neural network (spiking neural network), which acts as a… (More)
DOI: 10.1109/ACCESS.2017.2696985

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