54 research outputs found
AER Neuro-Inspired interface to Anthropomorphic Robotic Hand
Address-Event-Representation (AER) is a
communication protocol for transferring asynchronous events
between VLSI chips, originally developed for neuro-inspired
processing systems (for example, image processing). Such
systems may consist of a complicated hierarchical structure
with many chips that transmit data among them in real time,
while performing some processing (for example, convolutions).
The information transmitted is a sequence of spikes coded using
high speed digital buses. These multi-layer and multi-chip AER
systems perform actually not only image processing, but also
audio processing, filtering, learning, locomotion, etc. This paper
present an AER interface for controlling an anthropomorphic
robotic hand with a neuro-inspired system.Unión Europea IST-2001-34124 (CAVIAR)Ministerio de Ciencia y Tecnología TIC-2003-08164-C03-02Ministerio de Ciencia y Tecnología TIC2000-0406-P4- 0
An AER-Based Actuator Interface for Controlling an Anthropomorphic Robotic Hand
Bio-Inspired and Neuro-Inspired systems or circuits are a
relatively novel approaches to solve real problems by mimicking the biology
in its efficient solutions. Robotic also tries to mimic the biology and
more particularly the human body structure and efficiency of the muscles,
bones, articulations, etc. Address-Event-Representation (AER) is
a communication protocol for transferring asynchronous events between
VLSI chips, originally developed for neuro-inspired processing systems
(for example, image processing). Such systems may consist of a complicated
hierarchical structure with many chips that transmit data among
them in real time, while performing some processing (for example, convolutions).
The information transmitted is a sequence of spikes coded using
high speed digital buses. These multi-layer and multi-chip AER systems
perform actually not only image processing, but also audio processing,
filtering, learning, locomotion, etc. This paper present an AER interface
for controlling an anthropomorphic robotic hand with a neuro-inspired
system.Unión Europea IST-2001-34124 (CAVIAR)Ministerio de Ciencia y Tecnología TIC-2003-08164-C03-0
A FPGA Spike-Based Robot Controlled with Neuro-inspired VITE
This paper presents a spike-based control system applied to a fixed
robotic platform. Our aim is to take a step forward to a future complete spikes
processing architecture, from vision to direct motor actuation. This paper covers
the processing and actuation layer over an anthropomorphic robot. In this way,
the processing layer uses the neuro-inspired VITE algorithm, for reaching a target,
based on PFM taking advantage of spike system information: its frequency.
Thus, all the blocks of the system are based on spikes. Each layer is implemented
within a FPGA board and spikes communication is codified under the
AER protocol. The results show an accurate behavior of the robotic platform
with 6-bit resolution for a 130º range per joint, and an automatic speed control
of the algorithm. Up to 96 motor controllers could be integrated in the same
FPGA, allowing the positioning and object grasping by more complex anthropomorphic
robots.Ministerio de Ciencia e Innovación TEC2009-10639-C04-02Ministerio de Economía y Competitividad TEC2012-37868-C04-0
AER-based robotic closed-loop control system
Address-Event-Representation (AER) is an
asynchronous protocol for transferring the information of
spiking neuro-inspired systems. Actually AER systems are able
to see, to ear, to process information, and to learn. Regarding to
the actuation step, the AER has been used for implementing
Central Pattern Generator algorithms, but not for controlling
the actuators in a closed-loop spike-based way. In this paper we
analyze an AER based model for a real-time neuro-inspired
closed-loop control system. We demonstrate it into a differential
control system for a two-wheel vehicle using feedback AER
information. PFM modulation has been used to power the DC
motors of the vehicle and translation into AER of encoder
information is also presented for the close-loop. A codesign
platform (called AER-Robot), based into a Xilinx Spartan 3
FPGA and an 8051 USB microcontroller, with power stages for
four DC motors has been used for the demonstrator.Junta de Andalucía P06-TIC-01417Ministerio de Educación y Ciencia TEC2006-11730-C03-0
Spike-based control monitoring and analysis with Address Event Representation
Neuromorphic engineering tries to mimic biological
information processing. Address-Event Representation (AER) is
a neuromorphic communication protocol for spiking neurons
between different chips. We present a new way to drive robotic
platforms using spiking neurons. We have simulated spiking
control models for DC motors, and developed a mobile robot
(Eddie) controlled only by spikes. We apply AER to the robot
control, monitoring and measuring the spike activity inside the
robot. The mobile robot is controlled by the AER-Robot tool,
and the AER information is sent to a PC using the
USBAERmini2 interface.Junta de Andalucía P06-TIC-01417Ministerio de Educación y Ciencia TEC2006-11730-C03-0
SVITE: A Spike-Based VITE Neuro-Inspired Robot Controller
This paper presents an implementation of a neuro-inspired algorithm
called VITE (Vector Integration To End Point) in FPGA in the spikes domain.
VITE aims to generate a non-planned trajectory for reaching tasks in robots.
The algorithm has been adapted to work completely in the spike domain under
Simulink simulations. The FPGA implementation consists in 4 VITE in parallel
for controlling a 4-degree-of-freedom stereo-vision robot. This work represents
the main layer of a complex spike-based architecture for robot neuro-inspired
reaching tasks in FPGAs. It has been implemented in two Xilinx FPGA
families: Virtex-5 and Spartan-6. Resources consumption comparative between
both devices is presented. Results obtained for Spartan device could allow
controlling complex robotic structures with up to 96 degrees of freedom per
FPGA, providing, in parallel, high speed connectivity with other neuromorphic
systems sending movement references. An exponential and gamma distribution
test over the inter spike interval has been performed to proof the approach to the
neural code proposed.Ministerio de Economía y Competitividad TEC2012-37868-C04-0
An AER to CAN Bridge for Spike-Based Robot Control
Address-Event-Representation (AER) is a bio-inspired communication
protocol between chips. A set of AER sensors (retina and cochleas), processors
(convolvers, WTA, mappers, …) and actuators can be found in the literature that
have been specifically designed for mimicking the communication principle in the
brain: spikes. The problem when developing complex robots based on AER (or
spikes) is to command actuators (motors) directly with spikes. Commercial robots
are usually based on commercial standards (CAN) that do not allow powering
actuators directly with spikes. This paper presents a co-design FPGA and
embedded computer system that implements a bridge between these two protocols:
CAN and AER. The bridge has been analyzed under the Spanish project
VULCANO1 with an arm robot and a Shadow anthropomorphic hand.Ministerio de Ciencia e Innovación TEC2009-10639-C04-0
Towards AER VITE: building spike gate signal
Neuromorphic engineers aim to mimic the precise and
efficient mechanisms of the nervous system to process
information using spikes from sensors to actuators. There are
many available works that sense and process information in a
spike-based way. But there are still several gaps in the actuation
and motor control field in a spike-based way. Spike-based
Proportional-Integrative-Derivative controllers (PID) are
present in the literature. On the other hand, neuro-inspired
control models as VITE (Vector Integration To End point) and
FLETE (Factorization of muscle Length and muscle Tension)
are also present in the literature. This paper presents another
step toward the spike implementation of those neuro-inspired
models. We present a spike-based ramp multiplier. VITE
algorithm generates the way to achieve a final position targeted
by a mobile robotic arm. The block presented is used as a gate
for the way involved and it also puts the incoming movement on
speed with a variable slope profile. Only spikes for information
representation were used and the process is in real time. The
software simulation based on Simulink and Xilinx System
Generator shows the accurate adjust to the traditional
processing for short time periods and the hardware tests
confirm and extend the previous simulated results for any time.
We have implemented the spikes generator, the ramp multiplier
and the low pass filter into the Virtex-5 FPGA and connected
this with an USB-AER (Address Event Representation) board to
monitor the spikes.Ministerio de Ciencia e Innovación TEC2009-10639-C04-0
From Vision Sensor to Actuators, Spike Based Robot Control through Address-Event-Representation
One field of the neuroscience is the neuroinformatic whose aim is to
develop auto-reconfigurable systems that mimic the human body and brain. In
this paper we present a neuro-inspired spike based mobile robot. From
commercial cheap vision sensors converted into spike information, through
spike filtering for object recognition, to spike based motor control models. A
two wheel mobile robot powered by DC motors can be autonomously
controlled to follow a line drown in the floor. This spike system has been
developed around the well-known Address-Event-Representation mechanism to
communicate the different neuro-inspired layers of the system. RTC lab has
developed all the components presented in this work, from the vision sensor, to
the robot platform and the FPGA based platforms for AER processing.Ministerio de Ciencia e Innovación TEC2006-11730-C03-02Junta de Andalucía P06-TIC-0141
Synthetic retina for AER systems development
Neuromorphic engineering tries to mimic biology in
information processing. Address-Event Representation (AER) is
a neuromorphic communication protocol for spiking neurons
between different layers. AER bio-inspired image sensor are
called “retina”. This kind of sensors measure visual information
not based on frames from real life and generates corresponding
events. In this paper we provide an alternative, based on cheap
FPGA, to this image sensors that takes images provided by an
analog video source (video composite signal), digitalizes it and
generates AER streams for testing purposes.Junta de Andalucía P06-TIC-01417Ministerio de Educación y Ciencia TEC2006-11730-C03-0
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