Programmable coupled oscillators for synchronized locomotion

Sourav Dutta (), Abhinav Parihar, Abhishek Khanna, Jorge Gomez, Wriddhi Chakraborty, Matthew Jerry, Benjamin Grisafe, Arijit Raychowdhury and Suman Datta
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Sourav Dutta: University of Notre Dame
Abhinav Parihar: Georgia Institute of Technology
Abhishek Khanna: University of Notre Dame
Jorge Gomez: University of Notre Dame
Wriddhi Chakraborty: University of Notre Dame
Matthew Jerry: University of Notre Dame
Benjamin Grisafe: University of Notre Dame
Arijit Raychowdhury: Georgia Institute of Technology
Suman Datta: University of Notre Dame

Nature Communications, 2019, vol. 10, issue 1, 1-10

Abstract: Abstract The striking similarity between biological locomotion gaits and the evolution of phase patterns in coupled oscillatory network can be traced to the role of central pattern generator located in the spinal cord. Bio-inspired robotics aim at harnessing this control approach for generation of rhythmic patterns for synchronized limb movement. Here, we utilize the phenomenon of synchronization and emergent spatiotemporal pattern from the interaction among coupled oscillators to generate a range of locomotion gait patterns. We experimentally demonstrate a central pattern generator network using capacitively coupled Vanadium Dioxide nano-oscillators. The coupled oscillators exhibit stable limit-cycle oscillations and tunable natural frequencies for real-time programmability of phase-pattern. The ultra-compact 1 Transistor-1 Resistor implementation of oscillator and bidirectional capacitive coupling allow small footprint area and low operating power. Compared to biomimetic CMOS based neuron and synapse models, our design simplifies on-chip implementation and real-time tunability by reducing the number of control parameters.

Date: 2019
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Persistent link: https://EconPapers.repec.org/RePEc:nat:natcom:v:10:y:2019:i:1:d:10.1038_s41467-019-11198-6

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DOI: 10.1038/s41467-019-11198-6

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