Digital implementation of CPG controller in AVR system

This paper focuses on the implementation of AVR based Central Pattern Generator (CPG) controller. CPGs are biological networks that generate rhythmic outputs for the locomotion control of animals. Since previous CPG controllers are too complex to be suitable for microcontrollers, we propose a simple yet powerful linear CPG controller. To implement this controller in AVR system, several implementation techniques are presented which includes discretization, cosine curve approximation and variable overflow handling. Both simulations and experiments are carried out in an AVR-based robotic fish, which validate the effectiveness of our controller and implementation architecture.