Synchronization of coupled pulse-type hardware neuron models for CPG model

Abstract

It is well known that locomotion rhythms of living organisms are generated by CPG (Central Pattern Generator). In this chapter, we discuss the synchronization phenomena and oscillatory patterns of the coupled neural oscillators using pulse-type hardware neuron models (P-HNMs) for the purpose of constructing the CPG model. It is shown that the plural coupled P-HNMs connected by excitatory-inhibitory mutual coupling can generate various oscillatory patterns. Therefore, we construct the CPG model by using the coupled P-HNMs to generate several locomotion rhythms. As a result, we show clearly that the IC chip of CPG model, which can generate the quadruped locomotion patterns, can be constructed by CMOS process. Furthermore, we implement the CPG model to the MEMS (Micro Electro Mechanical Systems) type robot for the purpose of generating locomotion.