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lriEETRANS CIIONSON州三URALNF｢＼VORKS･〉OLl4NO5･Sr:yTlt;MIJLiRZ恥l
AnAnalogCMOSCentralPatternGeneratorfor
InterlimbCoordinationinQuadrupedLocornotionKa7･LlkLNakada,SILIde/trMe〝lbel.IEEE,TetsuyaAsal,J4eIJtber,lEEE,andYoshJhltOAmemlya.Me〝lbe/,lEEE
bs/,act-ThLSPnPerprUPOSCSilnCurOTltOrPhlCnliLlogCMOSeontroHcrForinterlimb coordillaIlonm qlJildrupedlot:onlOlion.nimとLHocomotiml,SuL:hilS,YヱLll{ing,rL"nlng,S､Yimmlng,llnd
nyil一g,lSbtlSC(JollpenOdICrhyLlmHCmOVCmCTltS･Thcst!rllylhmiCm ovt-mt!rltSヱIredrlVt!n by thebiologlt_all1eumlnell川rk,eaIle(Alhc L･e･lLm l rluttCrngenerillor(CPC)･Tll rtlCCntyeitrS,mallyrtscilrd lerS hnvt! app一ied Cl'G LoLoComoLlol1COTllroLIcrsll1robotLeS･H一-CV叫 mOSlorthesehilVCbcerldL･VCl0ptI(hvitlHllglLilll)rote-SSOrSiud,llluS,hュlveSeVCra)I)rOblcms,sucIIitsllLgllPOWerconsumption.lltOrderto oyerCOmCSuchproblems,aCPGcon-1rolltLrWILhaniIIogCMOSclrl:ultIS PrOl)OSCd.SinceltleCMOStmnsislorsllllhcI:n:uittJpcrilte"-Lhc)rsubthrcsholdrcyol一alldunderlolySupply YO】lage,thL:COrttrOIIcrcilnreduce powercoltSumPt10n.MorcovcF',lo､vICOSLprodLIt:tLOl一ilrldmLrLL.ltlJrl1.iLLl0110r corltrOHtLrSareexpected WchavesllOWnthroughcolllpuLt･rslmuhlion,suchclrL:uJthitsLhcI:apitbiliLyto gencmtcseyerilIpcrIOdicrhythmicpilttL-l-115.In°trilnSLliol一SbtlllVL!CntheirpalLern5ドrtIlnPlly,
I,tdc∫rer"･5- rlillogCMOSeln-ulLs,t･ultrtllp.tttcrllgt･ner-altlr(CPC),I:OuplcdnLturtllosClJlators,LnLerLJmbcoordJ'rlaLio■t,quil(lrupcdlocomotiol一.
llNTROl)UCmON
lhlSCOOrdlnllLLOIIThelCrOrC,CPG physsLgmrlCこ1ntro一eslnlocomO110n_
lnrecentyears,manyresearchershaveappllCdsuchrunc-110nSOrCPGtolocornoLLOnCOl一LTOllnrObotlCSL7日 13lForcx.
anlPle.quLldrupcdrobotsCapableoradaptLngLolrreguL乙LrtemLn
uSHlgCPGdynanl.CShavebeendcveJor氾dbyKlmuraera/r71.BltkLrdandIJSPCCrLhelveaPPlledaCPG controLIcrtoanenter･LalnmenLrobot.AlBO18lShamILndNagashlmahaveproposedaCPGconlroHerro√ahUmanOldrobot191
rnrobotlCS､LISLngCPG rorlocom0110nCOnLroLhastherol･
lowlngadvitntageS L)TheamoLLlllOrCalcuLall0nrequlredformovemenlcollLrollSreducedこISaresultohhecoordlrlaLLOnOrphys)GalpiLrtSInducedbytherhyLhmlCmOVC111entSand2)As a
resultorsynapLICPlasLICllywhlchchangeLhCCOllrlgurヱ1110nOr
CPGandlhcrhyLhm LC Pauern,hlghautol101T10uSadiLPliluOntO
varlOLLSellVLrOnmentSISaChleVedl10】
lllthepresentpaper.WeproposeanallalogCPGconLroHerror
LhccoordlllaLLOnOrPhyslCiIIpartslnquadrupedwalklngrobots.
AILhoughanumberorCPGcontrollershavebeendeveloped,
mostOFthesehiLVebeelHmplemeIILedbyuslngdlgltaLprocesI
sors17トr9lWhl)cadlgllalprocessorcanoperatewLthhtgh
AaT.Td帯 .工芸0,.sm bl:,:cnd～:cnh-:esrr.adl.k:nr?.･,rtL:.'Ln.'cn㌔,sowv芸.I:lEl':sg :?.諾mscuyc･,.LLp:oobn.Seu.‥rse:chcLugI-LoPOdteVg?rraLldlidc=Sucp崇 ,:l霊芝e霊
TheserhyLhmlCmovementsaredrLVenbythebLOloglcalncuriII
nelwoJk,caHedLhccentralpこILtclngCnerLILor(CPC日 日 CPG
consLSLsorsetsorneuralosclHaLOrS.SILualedlngilngILOnOr
spltlalcordlndLICedbyInputsFromCOmnlandneurons,aCPG
gcnemtesarhyLhmLCPauernOrnerve{lCL)VltyLll-COnSClOUSlyandautomiltlCilHy SuchiLrhylhmlCP山tcrnactlVこILeqn10Lor
neurollS,thustherhyLhnllCn10VemenLSOriLmmLILsarcdrlVen
WhllenotnecessaryForrhylhll"Cmovements.Sensoryfeedback
regulilLeslhcfrequencyandph乙LSeOrLhcserhyLhmlCPatLcrns
generatedbyCPG 【21Furthermore.CPG canalsoi)dapLtO
vilr10uSel1VlrOnmentStOChLMgelhcperl0dlCrhyLhnllCPlLternllscIf-L3]ForlllSlancc.vcrtebraLes.suchashorsesandc之llS,Can
changelhelrlocomoLOIPatternsdepelldHlgOllthesILu.lLl0nl4L
L5IStncethedegreeorLhc FreedomorphysLCalpartsrelcvanl
LOlocomotl0nlSVelyhlgh.thecoord】11aL10nOhhephysIC.tl
pLlrtS.Suchaslnterl=11bcoordmaL)onJSrequlredbrsmooth
locomot10nTherhyLhlllICmOVCmCnlSdrlVellbyCPG‖1duce
M･muscrlPLreCelYCdScplemlxLr15.21X)2Thc ･Ll■(horく tlrC WILhlhe DeparmlCn1 0r r=IcctrtcLllEng‖1eCnng.
HoLkui(Jo UnlVCrSlly SLIPIX爪,.llokhldo O伽)-8628. JI'rMn (C-1川‖ln･Lk･-da@sLLPte'-く一elenghokud▲..acJPl [email protected]､-亡.eng hoLudtL日.CJPla.TICmIy･I(hk･lr)ICn～-eLe"ghokudLtl.rlCJP)DlgLIJLObjectldcntlflcrlUH0()rrNN20038)638I
LoovercomesuchproblemsJheproposedCPGconlrOIlerLSde･
SlgnedasananalogCMOScLrCULtAsarcsuLL,ltCallreduce
powerconsumpLIOnMoreover,low-costproductlOnandrnlnla-
Lun'LaLIOnOrCOntrOtlcrsareexpected
CPG conLroHersLIBananalogcLrCulth.lVCalreadybceA
LmplementedlnPreVIOuSworksLHl1131Forexample,an
anZLIogCPG con一rOILcrForaquadrulXd､valkJngmaChL"ehas
beenproposedbySI… andTILde■lrHJPalclelaldes■gndananalogCPGch.pbasedontheMoms-LecarneurorLSfotlnLersegmenLalcoordlllLILlOnOrarlilrlLnclallampreyLl2ILcWS
elalproposedacustom ana一ogveryIlLrgCISCaletnlegrauOn
(vLSl)chlP iLSaCPG corltrOllcr,wh■chm.lkes useorlhc
lnLegraledalldflrcllCurOnSLl31
ThcpresentwolkdlrfersFromtheseworksmscveralrespectSI
FlrSl,ourCPGconLrOLlerlsb'lSedontheAm'Vト HoprLeldneU'
ronsr14｣,whlChlSSLLllablcforanalogclrCuLtlmPIementaLJOn
second.ltlSCiLPableoFproduc川gVanOuSrhyLhmLCPalterl-Sand
changlngthesepilLLernsproITIPLly
Thcpresentp'IPerlSOrgこ"-1∠edasFollows lnSecLIOnTL
theblOloglCLllbackgroundorLhcprescl-LworklSSLaLed･ⅠかSecll0nlll.wcdescnbeILCPGnclwOrkm odeJForconlrOLIlng
lnLerllmbcoordm乙1110…nquadrupedl∝om oLLOnlnSectlOtlTV･
､veproposedthecLrCulLarchlleCtLLreOrLhe CPGcontrollerld
sectlOⅠ-V,byuslngCOmPuLCr～"1-日latorSPlCE,weconnr一一lthat
10J5-9227/03SA700㊨2003lFIEl三
仰KL)ApEaI NLOGCLVLOSCPFORINTLiRuMriCOORL)LrdTIONlNQUADRUPEDLCK:0htO110N
lheProposedconlrOllclhasthecapablJllyloproducevar10uS
rhylhlTllCP.LtLClnSal-dlranS)tlOnSfromOnePauCZnloanolhcr-TTlcFurtherconsiderat10nSareShown 川 Scct10nVIThe
sumnlaryOverthepresentresearchLSPrCSellLCd)llSccl1011Vll
IINEUR∧LCoNTROLOFRHYTlMICMovEMENYS
hllhlSSeCllon,wedescnbelherundalllellLzIJrolcsorthe
neuralcol1trOlorrhythnllCmovementsOrCPG
A CetIITlaLfhlem Ge/.er(TIor
TllerhythmlCmOVeJTlenLsolan]mals,suchaslocomoL10n
andbrcaLhlng.aredr)vellbyCPG CPG generatesalX:r)OdlC
rhyLhmlCpalLernornerveacLIV】Ly LhaLaCnVateSnlOLorneurons,
†esulLlnglnrhythmcmovcmenlSOfammals ThepenodlC
rhyLhnllCPallem ofnerveacLLVtLyCallberegarded asan
attracLOr)lkeaHmlLcycle,embeddedJnnetworksLruclureor
CPG.ChaTaCLerlSllCSOrtherhyLhmZCPatternaSanalLrilCLor
contrlbutcloLhcslablllLyorrhylhnllCmOVe1--CntSWhllcnot
nccessanlyForgcneraLlngaperlOdLCrhyLhmlCPaLLern,Sensory
feedbackregulatesthefrequencyandphLLSeOrtherhyLhmlC
pattern Se･-soryrecdbackb.lanceserrectsorLLl-expectedand
unwallledd)sturbanccsbyregulatlngtherhythrnlCPauernOr
nerveacLIVILy,andthusrhyLhlllJCmovementsdrlVCnbyCPGaresLabL)はedfurther
B Cool-a.naILOn0/PIJySLtalPtlllS
lnvelleblaLelocomo110n,OneOrLhcmostrund'lrrlenlalrolesorCPGls10COntrOlofcachllmbAsaresultollnleracL)onw】一h
CPGsthataclualcmusclesateachJOlntOrthel"-1bs,rhy一hmlCmovementsoreachorthellmbsarestLTlbl)lZed AnoLhcrone
lSCOOperaLIOnbetweenthelLmbs,Le,lnlerllmbcoordJnatlOn
CPGslhlLcontroleachohheJlmbsaresynchro･1.Zedv.acoord･-
naLlngLnLemCurOSbeLweelltheCPGs.andthusthelnterLJmbc0-
0rdlnaLIOnlSaChLCVed･SLnCethedegreeoFtherreedomorphys-
lCalpartsreleva一一110locomoL10nlSveryhlgl一,thecoord=1alLOn
orphyslCalparts]srcqulredforsmoothl∝omot10nTherefore.
CPCcanbesa.d10Playthecent'a-role■nlocomol10n･
C R/lyI/lZn'CPulTen'Tro′i∫川0'l∫
tnrhyLhmlCmovementsOran.mals,alra■-SIL.onOrthe
rhylhmlCmOVernCnLSISOftenobseJ･Ved AsaLypICaJexanlPJe,
thehorsehaschosenalocol-10Lorpaucrn,whlCh)scalledthe
galll4llHsbe)leVedLhaLllleOPLlnlalgallPattern LSChosen
basedon】ocomoLorspeedortherateOfcnezgyconsumpLIOn
r5llnaddtM)n,C.IChgallpalteln.such=LSWalk,LrOL.a■-d
ga‖op..scharaclen-LedbytherelalIVCPh(tsebetweenlhc
ILnlbs F'g.1(a)aI-d(b)Sl'uwsthelyl'lCalg:utpl.'uCmSOr
rTlan-∩-alsa■-d)lSrelallVePh.ISeSHere,LF.LH,RF,al-dRH
rePrCsenLIcrlrOreJlmb,)eTthlndtm-b,r.ghLlore)"..I),tlndnghL
hLndllTllb,respecllVelyThegallpLILLCJ･-1SareLllsoregardedas糾rcre.-1modes｡rc｡｡rd)I-all.n｡hhe HmbsFunher.一一｡re.lLlS
cons,dcredLhalgallpalle日日 r(lnS.uOnS'lrLSefromCha■一gLngOrCooperaltonolCPGslhalCOnlrolI)1elnterlinlbcoordlnallOIl
Walk TroI Gallop
tJl
LF RH RH.LF LF RF
二二㌦-∴ 二 一LH RF LH.RF LH RH
(b)
ド･g1 (a)Typ･calgallPaLLerT･Srr･qUadrulX,d l∝omot･on(t')Rcl仙vepha比StxLWCCnthellmbslnthedLrfercTltA.=LPattL･rnS
1158
extemallnPUtS
A⊂ 担 ⊃ D
texcllatoryconnect10nO lnhlblloryconnect10n
Flg3 Amnr卜IloprICIdncuTonsmdel
lnthlSPaper,WeChosetheAmar卜Hoprleldneuronsmodel
rl4IastheneuraLoscLHatorThemodelconsIStSOraneXCIL.lLOry
neuTOn andanlnhlbLLOryneurOnWithexcltaLorylllhlbLtOryCOl一一
necL10nS(FIB.3)ThedyllamlCSOftheAlTlar1-HopFTleldmodeJ
LSexpressedbytherollowLnge(LuilL10nS
(::== 二言 岩/I,7((こ,'IS//:Ll((:',Iss･uilLi (･,
whereuandI,expresstheacLLVlLleSOrtheexcILllLoryncurons
andtheLnhlblLOryneLlrOnS.reSPeC【lVely.Thepar乙ImelersA-D
deLermtnethedynamlcsorthemodelSt▲(I･)andSu(i)exp･ess
theexteJ.nこLllnPutSTheLransrerhmcllOn/(7:)lSglVenbythe
Fo日owlngeqLlatl011
/,.(芯)-上土 響 (2)
whcrcta1-ll(.t･)lSthehyperbollCtangentruncll0nand/ilS
tlscontrolpalamelcrTheAmar1-Hopn)e]dmodeJISSultablc
TortmpJemel-LiLtlOnOrtheCPG modelasanalog clrCulls
tx=causcorlLSSlmPLelrLL.-S√errUnCtlOn･hSdclとulsilreA.VCn
IllSecllOn ]V-A Furthermore,theAman-Hoprleld model
con-esFX)ndsLotheannetransronllatl0nOftheWllson-Cowan
neuronsmodel,whlchlmLLaLesthepopulauonzLCl】vlLleSOr
cortLCaLrlCUrOnSLI51Thercrore,thequalilaLLVePropertyOr
bothmodelsLSCquLValentThedynamICSOrbothn10delsllaVe
beensLudledlndcltlLIDependlngOntheparanleLersAthrough
Dan(=heexLernaLLnPutSSu(i)andSu(i),theAman-HoprLe暮d
mdelgelleraleslheperlOdlcpatternauLomaLically.FIE3show
allauraClOrOftheAmar卜Hophledn10deLiltthel-～Phase
plane
B NeLLral-JVetworkMode/
WccomposedaneuraLnetworkmodelunderlylngLhcCPG
conLrOHertoperform lnterlLmbcoordlna110nLnquadrupedlo-cornoLIOnAstheCPGconLroHerForlnterlLnlbcoordlnat10n,lt
lSdesLrilblelogcneralevariousrhythrmcpauernsHence,wc
collSlructcdaneural-ncLworkmodelrrorntheAmarトHoprLe)d
rr.odelaccordmglotheneura]neLWOrkproposedbyNagashl■10
ettJ/I191TheL･modelcol-sLSLsofrourcoupledneuraloscLlla-
torswlthexclL'ttOryi..ld.nh.blLory.nLerneL.rO.-SByH-Lroductng
the=lcrnculOnSandswLLChLnglhelrlnteraCl10nSWlLhneumlos-
cl日加ols,/LL,lCIlol.lJ/leCultj7guralIO〟でOrtheCPG neLwolkare
perLorn.ed,iudthenvar.ousrhy仙11,CPalLcrnsaJCgel.er;LtedE]9J
Flg5showslhebとISTCStruCtuleOhheneuraトnelwotkmodcJ
Here･wcdcscrlbCconrlgurat10Ⅰ-SOrnetWOrksLhiLlgel-erヱILepcn-
OdICrhylhn1-CPallernscorrespondLngLocnchoftheLypICalguts
orm;llT"1-alsFIg6(a)-(C)correspondlothewalkmode.lhctrot
mcde,andtheg'lHopmode.respectlVelyl19)
LEl=.ErRNSCr10NSONNEUlミALNET＼VORKS.〉OLl4NO5SEPTEMliER200】
-2 -1 0
1 2UFlg4 ALlr;1CLOrOlLheAmュn-HoprlCldnlOdcllnLhctI一I,PhaseplaneThellmlトcyclcA=C=40
D=3OD=00,5..=()0.Sv=-15.andH=lO unltO clr Unltl摘 ) o neu,a.osc...a.0,Sc
fh貰 cfh Sunlt2 Clr unll3l-1g5 BilSICCOnrlgurtLLIO
nOrlhcCPGncLwOrkmtxkLWalk Trot Ga一lopAwH uwDt#t A鼻
･g(a) (b) (C)Flg6 Func110rLnJconrlguratlOnCOTTCSPOndlngtOthetyplCalga一lsPユllernSlnmaJIMILll(a)Walkmode(b)Trot
mode (C)GaHopl110deBycomblmngtheneLwOrksthatcOn'eSPOndtoeachorLhegallmodes,weconslrucLtheenhrenetwork
ThenetworkdynamlCSLSglVenbytherollowlng
equatlOnS:･u-LtO･l･2.37---(0･112.31
+A/"(-▲(0-l.2･31)･ AJ "(uL2･3.L･0')･Ag/,A(斬 0刈 )
-cLrlp(vtl･
0･3.2)卜 C/A/"(vI2,3.O･11)-cJp(V(0･l･2･31)+∫.tLOJ1213) (3
)･.,vto,l･2,3)=-vt0,1,2･3)+D/～(-Lf0,L･2･
31)一DJ,,(vLL3･2,I,01)+lJ
N∧J(D prLII NAJ.OGC-VtOSCPFORINTL=RLINBCOORl)lNATl0NINQUAl)kUPJT_DLOCOh1mlON
VDD VDD 140
･ i ,
ト Vb
lLl(V.n)
∴
VlnO｣
120
100
<
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⊂
三
_1 60
40
(a) (b) 20
謡 7 Sche■'l仙CSOr■1.C仙 ℃■'叫 … rcultS州 OStype'b''."OS o
whcrceachlndexLSanOrderedsclorFournulrltXrS,eachot
whlChcorrespo.-dtoaun.L Iり ん,andl上grepresentaCLLVIL)esorlhcexclLaLo】yneurons,Y)and1)LrepleSentaCLIVllleSOFlhe‖ト
hlbLtOryneurOnS,Tい TvIT.._,Tu.,andTu.arcthetLmeCOnSLanlo｢theneurons,A,Au,,A9,B,C,CL,,C//.,andDLarethe･n-
lcractLOnParametersluJ.,Juw,/ug,alld1"tarcLhctomeblaS
Inputs,arld∫,;.LStheexLenlalInputs
DepcndlngOnthelnLeraCl10nParametersAthroughDL,the
LonlCbLaS)nPulsJt.LrvoughI.,.andtheexLerl-alinputsI,=t,thedynamicsorthencLwOrkISdetermlnCdInpartlCular,theblaS
InputsandLtleeXterllal)nputsdcLermJnetheequl).brlumPOlntorlhenetwork
lV ARCLllTECTUREOr1111ECPGCoNTROLLER
lnthlS SeCuOn.WCdescrlbetheLLrChlteCLureOrtheCPG
controllerforlnLerLlmbcoordinatl0nLnquldrulXdlocomoLionFlrSL,thebilSICCellclrCultS山aLconsILtllLeapartortheCPG
conLroIIerareglVen,llCXHhearchLLecLurcortheelllLrCSystemlSdescrlbed
A Ce/ICFrruLt.f
WedcslgnCdthecellc)rcu)tsLh'llcOnSLILuLCapartorlhcCPG
conlro)le√EachclrCullCOnSisLSOrthebasLCanalogCMOScll-
Culls,suchllSthedlrrCrenLlalpalr,thecurrentmlrrOr.andthe
Lmnsllnearcurrcl1LmultlPller/dlVldert23)
FtTSL,wedescnbethecharacLenslICSOhhedirrerenLla)palr,
whlChlSOneOrthemostrundalllCnLalcomponentsorlhcCPG
controHerFlg.7(a)and(b)eachshowtwotypesOrSChemaLICS
orLhedlrlercnl.alpalrThedlnerenL)叫)'tlrCanaPl)rOX･maLethelransrerfuncLJOn(2)_WhentheMOSLr'lnSLSLors,whLChcom-
prlSethedlFlcrenLlall)alr､OPCratCll日heJrSUbLhresholdrcg1011,
thestatlC'eSPOnSCOrulCdlnCrCnt.こIIpa.IISglVCnbytheroトlow■ngcqualLOnr23]
･〃(.JIM)-,書 tanh(I…(V･F･ IVん)) (8,
wherev"IIStheInputvohage.1)いStheb■asVOJL.lgCJblSlhc
b･ascL■rrenl.IL= rC/2V･,,V･,-sthetherrT.alvoILilge.andK
lLuhcclectroslatlccouplmBCOerflc】cnlbetweenthegilLe Llnd
lb=ー20nA
lb=100nA.′/..:(/ lb=80nA∫:I∫∫∫∫
7Vln-Vb(∨
)FlgS Slat･CresponsesOrthedlfrerenLはlpalr(nMOStype)
VDD VDD
F lglO SchclmtlCOrthcncumlosc･llaLOrCeHclrCult
VDDFIEIL SchcmutlCOrlhL:lmnSlmcこIrCulrCF一日1-ulllPLl
er/dLVld crFLg lOshowsLhcl1eLlla-osclllatorce)
1clrCullwhosedy-JlamICSISeXPteSSedby(1)WerewrLLe(1
)asrollows;:ご -=--吾 .IBAI/::('二に1三ニ V'''t"L' (H,wheretheparameLc
rsA-a.ire.SameLn(3)I(u)and/(V)areLheoulpuLCurTCntSOrthed汀rere仙alpairs TherLeuralosclllatorcellcLrCullconsistsort
heexcllaloryce)lcLTCuitandtheinhLblLOrycellcLrCuLL.a
lldeこIChvanablecorrespondsLo(7)and(8)ThemL)oohhelnlerac1
10l-ParameterslsdeLermmedbytheaspectraL･O W/L(W:thegale
width,I,thegatele･lgth)Lnthecurre■ltmrTOrS･TheclrCuILgeneratestheperlOdlcrhyLh111lCPattern asaresultorthclnt
eracllOnWiththeexcILatoryandlnhlbltOryCellclrCultDependlnBOlHhepararrlelersAthroughCandtheex-Lernal･npuLs∫.▲(I)andI.,(i).thecircultge
neratesLheper■OdlCrhythmlCPatternaulolmLICnlLylrwewantLOrCg
ukLteLhchcquencyoflheper10d.crhylhlTuCpalLern,weshouldad
Jus=heperLOdorLhe)lnlJIcyclelnthetl-･upll(lSeput-eNilm
ely･weshouldproperlyadJuSHhebLll･lnCeOrthemLC.act.onparamct
crs.andtheexternallnPutS･TodoLhLS,ItISnecessarytO;IdJu
SHhcbittil･lCebeLwecl.CurrCnlSAI,I(†)a一一dBl′,(u)Bychanglngthesecul･rentS,the
equlllbJIU■1叩 01■'lmthedynatm CSh(tSalsobeenchanged･The
refore,theblaSCur-rcnlsshouldbcrcgLl]aLedHellCelWeCOmbJne
theLm nsllnerCLnentmult-Pller/lllVldc'W■thlheneurillosc.llLLLo
ICCllclrCu.Lド.g ItshowsZlSCJ.emillICorthetrimSl.nc;l
rCurrenLmuILIPllel/dlvlderTheclrCutLopczillCSbasedoMtlClranslln
eTPILnCIPIeS川CeaHortheMOStr乙川 SIS-LOrSlhalCOnlPr.SCtheclrCullこIrCOPC'ilLcdLn
LhclrSL■blhrc･dlOldreg101い hedyni"1lCrangeOfthelnPLJtandoutpLItCLlrrenlsこ1-C
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econrlrmedtooccurthellanSlt10nSFromOnePL
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ll三EL:rR NS∧CrlONSONNEURALNl_lWORKS,VOl.14NO ～SE111=MrIER21X)3
VI FuRTl柁RCoNSIDERATtONS
lnlhLSSCCLion.wcexamlllePraCtlCillproblemsinclrCUIt‖11-
p)cmemal.0.-IWhLChshouldt光･ltlendanHorurLherstudleSwhel日VeCOnStrtICLourCPGcontroller,devLCentlCtUaL10nS
shouldarrecL;LCCUraCyOrtheoperationorthecLrCuitlnparLic-
LlLar.thesublllreSholdopcraLlOnOrthecLrCuillSarreCLedstrollgly
bythe(1evLCCnuCtL)allOnSHence･wcconslderhoweachdevlCe
paranleterWOutdarrecItheoFX=raL.onoroperatLOn
FLrSL,WeCOnSldcrthedevICenuCtuatLOnSlntheMOStran-
sLStOrSInthedllTerenLlalpnlr,thecH-CultOPeratLOndeFXndsoll
goodmatchH一gbetweenLheMOSlrans.storsLhaLcompr.SeLhc
clrcultlnLhcsubthresholdreg10nJhepre-exponent)alconstiltll
Io.lfrcctsstrong)yiICCurLICyOftheclrCultOPeratlOn lnorderto
obtalllhlghrelallVeaccuracy.WCShouldp一acelhcpal√Orthe
MOSlranSLSLorscOm PrlSlngLhcdlrferentlalpalrCloselylnthe
currentmlrrOr.rUrLhermorc.themLl(Chtngor山 e之lSPCCLrilLLOIS
necessaryslnCCtheriLLl00rthecurrentmln-OrdelermlneSthe
dynamlCSOfLhcCPG
Second,WeconsldclthenuctuaLIOnOrresISLorsLntheCPG
conLrOHerSlnCeLhclrnLICtLl'ltLOnSこげrecHhcequlllblli"TlpOm川1
1heCPG,lhelrrelzILIVC'tCCurこICICSal-elmPOrLllnlSlmlhLTly.ltlS
desH(lbleloSetLhcblaSCurrCl1Ls-nthecllCulL.whlChdeLermlnC
LLICC(JulIlbrlum PO=11日日hcCPG,asaccLlraLcLyitsPOSSlblc
lnLhcpICSenlSlnlulall0n,WCUsethelargecup'LCILOISandre-
sLStOrSThlSme.llHhaLWhenwetrylobullLachlPWlthsLICh
cこIPaCllorsandrcsLS10rS,theywouldoccupyaltlrgCareaOrthe
chLP lnordertoovercomesLIChproblems,weuseexternalca-
pncILOrSとLIldrcslslorsByuslngSuchslralegy.smallarcaorchlPS
andlow-costprodLlCtl0nCこtnbcreall.Led
Vll SuMMARY
lnthLSPilper.WeproposedananalogCMOSconLrOHcrTor
lnterHmbcoordLnilL)ollLnquadrupedlocomoLIOnTheproposed
col-LrollerLSbLISedontheblOIoglCalneuralnetwork,calledCPG
Tnrecentyears.manyresearcheshaveproFnSedCPGcontroHers
ForwalklngrobotsWhllemostorthesehaveuseddlg)talpro-
cessorslhaLhavesevcralproblemssuchこlShlghpowerconsump-
tlDn.WedeslgncdtheCPGconLroHerasanalogclrCLHl
lnpreviousworks.SeveriLlanalogCPG coIILrOHershaveal-
reildybeendevelopedUlIllL31TheprcscnLworkdLrrCrSFrom
lhemlnSeveralrespectsFlrSいheCPGcolltrOHerlSbasedonthe
AmarトトIoprLCJdmodel.whIChcallbelmplenlelllede'lSLlywlth
thefundamcnLalanZLlogclrCultS,SuchaslhedllrereJll)alpa)rand
thecurrentmlrrOrSecond,theCPG controllerhaslhccap.L-
bLlllyorgencraLlngSCVeralrhythnllCPatternsandchanglllgLhelr
pauerllSPLOmPtlyTheseptopertleSareSuFrlClentFortheCPG
controllcrtocoordi一一aLelnLelllmbmOLton=1qLllldrupcdwalklllgrobots
FLIrlhcJn10re,(heCMOStrans･stors.ntheCPGcontroHcrop-
crtllelnthclrSubthleSholdreglOn.lndundellowsupplyvolt;lee,
soILcanrcducepoweICOnSumPtLOnSlnCeanumbcrorthctlan-
SIStOtSCOml)FISlngthecontroHcriLrClessthanaLhousこmd.ltlS
expeclcdlhatlow -costproducllO=ilndm l1-lこILunZLILIOnOrChlPSc乙Hlberea】lZCd
Followmgthep-csentICSeiLrCh,weilregOlnglodevclop.lu-
10t10mOuSitdapLIVeCOnlrOllerFormlCrOlocomoLorrobots
AcKNOWLEL)GMENT
TlleこIuLllOrSWOuldllkeLothanklhcrevICWerSfortheircon_
sLruCILVeCOmmCnLsandsuggesL1011Lq,andDr･M KILLLmura.Pro-
cessorEmerlLusorHokkaldoUlllVelSItyForCrlLICtLlrcadlngOf
themanuSCnPI
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..,iC -JA
J g h
Kin,uktN.lk.ldn(S'02)recclVCd‖IGBS degree
m m.lthCmiItlCSln L99()and the ME JcErCCiI:.I:･:･.:::"I..I.::I.:･:::..::.:::.:::∴ ::I:-"::...I: 育転 ;I7 - 1cLIrTCnllyworkll鳩t
OWaTdLhcDrEn名degrcemtheDeptlrlTneTltOrEle
ctrlCLLIEl1glllCCnng.HokkatdoUnlVCISILyHlゝI;um:[1Llt.ゝじaLCh=ltCrCSLsLTICll･(LcblOL.)gIC
al)ylnSP‖-Cdrol氾 t■CSiL■ldLICurOmOrPhlC analog/
d唱]tglsystem sTe-sLlyil siu(M101)rcccLVCdlllCBE ･IndMEdcgl比S lrtelt:cLrlCalcl一gl
nCerlng fro.ll Toka.Ur"vcrslty.K州.1gaWa.∫.lPan､"1]993and l996.respec(IVCly.andLhcl九 Engdegree
lnelcctrlCalarldclccLrOrllC Englneenng rTOm theToyo
hashlUnlVerSltyOrTechnology,AlChlJapan.ln1999l
lcISnO､VallAssoclatCProressoHnLhcDeparl･nenlOrEIcctrlCillEnglrleCrlTlg.Hokki"do
UnlVCrSlty.Sapl沖rO,JtlP.111J-llscu
rTCrnrCSCalChmLereStSLndudcsensorylnlormlltlOnprOCe･SSll1g"-nCUrahlelWOrksasWCJIasdeslgnan
dappllCalIOllSOrtleurOmOrPhlCVJjlsaTld山ercactlOl1-dLrruSIOnChJP 1365
YosTlHnLo ^l11ellllyil(Ml()7)reccIVed theBE.ME,･ln(lDrEllg(lcgleeSrrOmtheTo
kyolnstltulCorTechnology,Tokyo.)叩 au.Hl1970.1
972 aHd1975.rcspecLIVelyFrom 197510 1993.he～
ilsWllhNTT JjlLatN)ratOry, 15ugl.Japan SlnCe l
993 he hasbccnaProfessorm LheDcJW tmentOrEIcctncalEnglncermg,HokkaldoU-1LVCrSlty.SaPPOrO,JTIP.IllH IS researchlnlL･rr.Sl～
are川 CtCCLrOnlCCIrCUltSlarge-scale lntC8mtlOn
