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Development of quadruped robot system mounting integrated circuits of pulse-type hardware neuron models for gait generation

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Abstract

The authors have been studying robots equipped with pulse-type hardware neuron models (P-HNMs) that mimic biological neurons. In a previous study, we developed a quadruped robot system mounting P-HNMs. The authors confirmed the generation of animal-like gait that transitions gait in response to the speed of movement. However, significant circuit variations occurred between the circuit boards of the P-HNMs because the discrete elements had been soldered to the circuit board by hand. Therefore, the circuit characteristics have to adjust using variable resistance for each experiment. In this paper, the authors developed an integrated circuit of P-HNMs to reduce the circuit variation. Also, we mounted the integrated circuits of P-HNMs on a quadruped robot system. As a result, we confirmed that an integrated circuit of P-HNMs does not require any adjustments to actuate the robot system. Also, the author established that the proposed quadruped robot system generates a gait like the “Walk” and the “Trot” of quadruped animals through the walking experiments. The generated gaits are three to seven times longer than the previous robot system.

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Data availability

The datasets generated and used during the current study are available upon reasonable request to the corresponding author.

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Acknowledgements

The part of this work was supported by the research grant of Nihon University and Nihon University Multidisciplinary Research Grant for (2020). This work was also supported through the activities of d.lab (former VDEC), The University of Tokyo, in collaboration with Cadence Design Systems, Mentor Graphics and NIHON SYNOPSYS G.K. The VLSI chip in this study has been fabricated in the chip fabrication program of through the activities of d.lab (former VDEC), the University of Tokyo in collaboration with On-Semiconductor Niigata, and Toppan Printing Corporation.

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Authors and Affiliations

  1. Department of Precision Machinery Engineering, Graduate School of Science and Technology, Nihon University, Tokyo, Japan

    Akihisa Ishida, Isuke Okuma & Katsuyuki Morishita

  2. Department of Precision Machinery Engineering, College of Science and Technology, Nihon University, Chiba, Japan

    Ken Saito

Authors
  1. Akihisa Ishida
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  2. Isuke Okuma
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  3. Katsuyuki Morishita
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  4. Ken Saito
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Correspondence to Ken Saito.

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This work was presented in part at the joint symposium of the 28th International Symposium on Artificial Life and Robotics, the 8th International Symposium on BioComplexity, and the 6th International Symposium on Swarm Behavior and Bio-Inspired Robotics (Beppu, Oita and Online, January 25–27, 2023).

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Ishida, A., Okuma, I., Morishita, K. et al. Development of quadruped robot system mounting integrated circuits of pulse-type hardware neuron models for gait generation. Artif Life Robotics 29, 242–249 (2024). https://doi.org/10.1007/s10015-023-00930-7

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  • DOI: https://doi.org/10.1007/s10015-023-00930-7

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