CBMC-V2: A CNS-inspired Framework for Real-time Robotic Arm Control

In recent years, bio-inspired control algorithms for robotic arms have garnered significant attention due to their remarkable adaptability. In this paper, we introduce a real-time framework on the basis of CBMC [13], to control a 7-DOF robotic arm using neuromorphic chip. Our proposed framework comprises five modules: the cerebral sensory cortex module, the cerebral motor cortex module, the cerebellum module, the brainstem module, and the spinal cord module. These modules operate within a hierarchical structure consisting of three control loops, each running at different frequencies. The effectiveness of our approach is validated through trajectory tracking control tasks in simulation. Subsequently, we deploy the algorithm on a neuromorphic chip to test its performance on a robotic arm platform. The experimental results clearly demonstrate the superior control effectiveness and robustness of our methodology than the previous version in complex tasks.