Four-legged Walking Gait Control Using a Neuromorphic Chip Interfaced to a 
Support Vector Learning Algorithm

Still, S; Schölkopf, B; Hepp, K; Douglas, RJ

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Four-legged Walking Gait Control Using a Neuromorphic Chip Interfaced to a Support Vector Learning Algorithm

Still, S., Schölkopf, B., Hepp, K., & Douglas, R. (2001). Four-legged Walking Gait Control Using a Neuromorphic Chip Interfaced to a Support Vector Learning Algorithm. In T. Leen, T. Dietterich, & V. Tresp (Eds.), Advances in Neural Information Processing Systems 13 (pp. 741-747). Cambridge, MA, USA: MIT Press.

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Item Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-E2AE-4 Version Permalink: https://hdl.handle.net/21.11116/0000-0005-0EFB-2

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https://papers.nips.cc/paper/1824-four-legged-walking-gait-control-using-a-neuromorphic-chip-interfaced-to-a-support-vector-learning-algorithm.pdf (Publisher version) Open Access status unknown

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Creators:
Still, S, Author
Schölkopf, B¹, Author
Hepp, K, Author
Douglas, RJ, Author

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1External Organizations, ou_persistent22

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Abstract: To control the walking gaits of a four-legged robot we present a novel neuromorphic VLSI chip that coordinates the relative phasing of the robot's legs similar to how spinal Central Pattern Generators are believed to control vertebrate locomotion [3]. The chip controls the leg movements by driving motors with time varying voltages which are the outputs of a small network of coupled oscillators. The characteristics of the chip's output voltages depend on a set of input parameters. The relationship between input parameters and output voltages can be computed analytically for an idealized system. In practice, however, this ideal relationship is only approximately true due to transistor mismatch and offsets.

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Dates: Date issued: 2001-04

Publication Status: Issued

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Identifiers: BibTex Citekey: 1841

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Title: Fourteenth Annual Neural Information Processing Systems Conference (NIPS 2000)

Place of Event: Denver, CO, USA

Start-/End Date: 2000-11-27 - 2000-12-02

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Title: Advances in Neural Information Processing Systems 13

Source Genre: Proceedings

Creator(s):
Leen , TK, Editor
Dietterich, TG, Editor
Tresp, V, Editor

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Publ. Info: Cambridge, MA, USA : MIT Press

Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 741 - 747 Identifier: ISBN: 0-262-12241-3