A Configurable CPG Controller using Connectome based SNN on FPGA for Robot Locomotion

Ereifej, Joseph H. (2025) A Configurable CPG Controller using Connectome based SNN on FPGA for Robot Locomotion. Master's Thesis, University of Pittsburgh. (Unpublished)

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Abstract

Movement control in autonomous robots requires low-power, real-time models, especially for bio-mimetic locomotion in challenging terrains. Human intervention is often impractical in such environments, making specialized neural networks like central pattern geterators critical for offloading computational resources. This paper presents a controller for a bipedal robot using a modified spiking neuron model, adapted for efficient deployment on field-programmable gate arrays. Key modifications were made to ensure lightweight, real-time performance. Additionally, we leverage a unique open-source neuromorphic software platform for the network design and deployment, making the technology accessible to developers aiming to implement autonomous robot locomotion.

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Details

Item Type:	University of Pittsburgh ETD
Status:	Unpublished
Creators/Authors:	Creators Email Pitt Username ORCID Ereifej, Joseph H. jhe7@pitt.edu jhe7
ETD Committee:	Title Member Email Address Pitt Username ORCID Committee Chair Kubendran, Rajkumar rajkumar.ece@pitt.edu rak196 Committee Member Dickerson, Samuel dickerson@pitt.edu sjdst31 Committee Member Can-Cimino, Azime azime.cancimino@pitt.edu azc9
Date:	7 January 2025
Date Type:	Publication
Defense Date:	15 November 2024
Approval Date:	7 January 2025
Submission Date:	1 November 2024
Access Restriction:	No restriction; Release the ETD for access worldwide immediately.
Number of Pages:	20
Institution:	University of Pittsburgh
Schools and Programs:	Swanson School of Engineering > Electrical and Computer Engineering
Degree:	MS - Master of Science
Thesis Type:	Master's Thesis
Refereed:	Yes
Uncontrolled Keywords:	Central Pattern Generators, Spiking Neural Networks, Field Programmable Gate Array, Neuromorphic Computing, Neuromorphic Hardware, Robotics
Date Deposited:	07 Jan 2025 21:10
Last Modified:	07 Jan 2025 21:10
URI:	http://d-scholarship.pitt.edu/id/eprint/47062

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• A Configurable CPG Controller using Connectome based SNN on FPGA for Robot Locomotion. (deposited 07 Jan 2025 21:10) [Currently Displayed]

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