Toward biomorphic control using custom a VLSI CPG chips

M. Anthony Lewis*, Ralph Etienne-Cummings, Avis H. Cohen, Mitra Hartmann

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

56 Scopus citations


The locomotor controller for walking, running, swimming, and flying animals is based on a Central Pattern Generator (CPG). Models of CPGs as systems of coupled non-linear oscillators have been proposed and have been used for the control of robots. In this paper we describe the implementation of an adaptive CPG model in a compact, custom analog VLSI circuit. We demonstrate the function of the chip by controlling an underactuated, running robotic leg. This circuit has adaptive properties that 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.

Original languageEnglish (US)
Pages (from-to)494-500
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 2000
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: Apr 24 2000Apr 28 2000

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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