Sensors 2013, 13(11), 15805-15832; doi:10.3390/s131115805
Article

Neuro-Inspired Spike-Based Motion: From Dynamic Vision Sensor to Robot Motor Open-Loop Control through Spike-VITE

1,* email, 1email, 2email, 2email, 2email, 2email and 3email
Received: 5 October 2013; in revised form: 11 November 2013 / Accepted: 13 November 2013 / Published: 20 November 2013
(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Spain 2013)
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Abstract: In this paper we present a complete spike-based architecture: from a Dynamic Vision Sensor (retina) to a stereo head robotic platform. The aim of this research is to reproduce intended movements performed by humans taking into account as many features as possible from the biological point of view. This paper fills the gap between current spike silicon sensors and robotic actuators by applying a spike processing strategy to the data flows in real time. The architecture is divided into layers: the retina, visual information processing, the trajectory generator layer which uses a neuroinspired algorithm (SVITE) that can be replicated into as many times as DoF the robot has; and finally the actuation layer to supply the spikes to the robot (using PFM). All the layers do their tasks in a spike-processing mode, and they communicate each other through the neuro-inspired AER protocol. The open-loop controller is implemented on FPGA using AER interfaces developed by RTC Lab. Experimental results reveal the viability of this spike-based controller. Two main advantages are: low hardware resources (2% of a Xilinx Spartan 6) and power requirements (3.4 W) to control a robot with a high number of DoF (up to 100 for a Xilinx Spartan 6). It also evidences the suitable use of AER as a communication protocol between processing and actuation.
Keywords: spike systems; motor control; VITE; address event representation; neuro-inspired; neuromorphic engineering; anthropomorphic robots
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MDPI and ACS Style

Perez-Peña, F.; Morgado-Estevez, A.; Linares-Barranco, A.; Jimenez-Fernandez, A.; Gomez-Rodriguez, F.; Jimenez-Moreno, G.; Lopez-Coronado, J. Neuro-Inspired Spike-Based Motion: From Dynamic Vision Sensor to Robot Motor Open-Loop Control through Spike-VITE. Sensors 2013, 13, 15805-15832.

AMA Style

Perez-Peña F, Morgado-Estevez A, Linares-Barranco A, Jimenez-Fernandez A, Gomez-Rodriguez F, Jimenez-Moreno G, Lopez-Coronado J. Neuro-Inspired Spike-Based Motion: From Dynamic Vision Sensor to Robot Motor Open-Loop Control through Spike-VITE. Sensors. 2013; 13(11):15805-15832.

Chicago/Turabian Style

Perez-Peña, Fernando; Morgado-Estevez, Arturo; Linares-Barranco, Alejandro; Jimenez-Fernandez, Angel; Gomez-Rodriguez, Francisco; Jimenez-Moreno, Gabriel; Lopez-Coronado, Juan. 2013. "Neuro-Inspired Spike-Based Motion: From Dynamic Vision Sensor to Robot Motor Open-Loop Control through Spike-VITE." Sensors 13, no. 11: 15805-15832.

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