VLSI implementation of control schemes based on dynamical central pattern generators

In this paper the problems related to the VLSI implementation of a class of nonlinear systems used as Central Pattern Generators for artificial locomotion control are discussed and an efficient solution based on the switched-capacitor technique is proposed. Moreover, an example of application of the proposed methodology is presented: a VLSI chip implementing a CPG for hexapod gait control has been designed, realized and then successfully used to control a prototype of six-legged walking robot.