An analog CMOS central pattern generator for interlimb coordination in quadruped locomotion

  title={An analog CMOS central pattern generator for interlimb coordination in quadruped locomotion},
  author={Kazuki Nakada and Tetsuya Asai and Yoshihito Amemiya},
  journal={IEEE transactions on neural networks},
  volume={14 5},
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 researchers have applied CPG to locomotion controllers in robotics. However, most of these have been developed with digital processors and, thus… CONTINUE READING
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