Control of a robot leg with an adaptive aVLSI CPG chip

The rhythmic locomotion of animals, such as walking, swimming, and flying, is controlled by groups of neurons called central pattern generators (CPGs) . CPGs can autonomously produce rhythmic output, but under normal biologica l conditions make extensive use of peripheral sensory feedback. Models of C PGs have been used to control robot locomotion, but none of these models ha ve incorporated sensory feedback adaptation. We have constructed an adaptiv e CPG in an analog VLSI chip, and have used the chip to control a running r obot leg. We show that adaptation based on sensory feedback permits a stabl e gait even in an underactuated condition: the leg can be driven using a hi p actuator alone while the knee is purely passive. (C) 2001 Elsevier Scienc e B.V, All rights reserved.