Four-legged Walking Gait Control Using a Neuromorphic Chip Interfaced to a Support Vector Learning Algorithm

To control the walking gaits of a four-legged robot we present a novel neuromorphic VLSI chip that coordinates the relative phasing of the robot's legs similar to how spinal Central Pattern Generators are believed to control vertebrate locomotion [3]. The chip controls the leg movements bydriving motors with time varying voltages which are the outputs of a small network of coupled oscillators. The characteristics of the chip's output voltages depend on a set of input parameters.