Quadrupedal Robot Locomotion: A Biologically Inspired Approach and Its Hardware Implementation

Algorithm 1

CPG design methodology.

Require:

Ensure: CPG design

() for all to do

()  Configure the available signals for the th spiking neuron ().

()  Set the initial state of the th spiking neuron.

()  repeat

()   Evolve both the connectivity and synaptic weights for the th spiking neuron by means of CGE.

()  until Best Solution’s Fitness != Expected Error

()  Store the CGE’s Best Solution for the th spiking neuron’s configuration.

() end for

() Integrate all configurations into a SNN.