CPG Chip

Silicon Models of the Central Pattern Generator

Iguana Robotics researchers in conjunction with several university labs are
developing silicon models of central pattern generators. These chips are capable
of learning and adaptation. Possible applications include low power, and size
elements for miniature biomorphic robots.

Chip Layout

The Experimental Setup

The locomotory controller for walking, running, swimming and flying animals is
based on a Central Pattern Generator (CPG). Models of CPGs have been
proposed and roboticists have adapted these models for the control of robots.

These CPGs are modeled as systems of coupled non-linear oscillators.We have mplementated an adaptive CPG

model in a compact, custom analog VLSI circuit. These circuits are very small, power efficient and inexpensive to manufacture in volume.

We have demonstrated the functionality of the chip by controlling an
underactuated, running robotics leg. This circuit also has adaptive properties
which allow it to tune its behavior based on sensory feedback. To our
knowledge this is the first instance of an adaptive CPG chip.

This approach supports the construction of extremely inexpensive, low power
and compact controllers for walking, flying and swimming machines.

See Videos on Download Page

Take me to the DownLoad Page

Iguana Robotics, Inc.

CPG Chip

Links to Biorobot related Sites

See Videos on Download Page