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We propose a modular architecture for neuromorphic closed-loop control basedon bistable relaxation oscillator modules consisting of three spiking neuronseach. Like its biological prototypes, this basic component is robust toparameter variation but can be modulated by external inputs. By combining thesemodules, we can construct a neural state machine capable of generating thecyclic or repetitive behaviors necessary for legged locomotion. A concrete casestudy for the approach is provided by a modular robot constructed from flexibleplastic volumetric pixels, in which we produce a forward crawling gaitentrained to the natural frequency of the robot by a minimal system of twelveneurons organized into four modules.

Spiking neural state machine for gait frequency entrainment in a flexible modular robot