We propose and analyze the suitability of a spiking controller to engineer the locomotion of a soft robotic crawler. Inspired by the FitzHugh-Nagumo model of neural excitability, we design a bistable controller with an electrical flipflop circuit representation capable of generating spikes on-demand when coupled to the passive crawler mechanics. A proprioceptive sensory signal from the crawler mechanics turns bistability of the controller into a rhythmic spiking. The output voltage, in turn, activates the crawler's actuators to generate movement through peristaltic waves. We show through geometric analysis that this control strategy achieves endogenous crawling. The electro-mechanical sensorimotor interconnection provides embodied negative feedback regulation, facilitating locomotion. Dimensional analysis provides insights on the characteristic scales in the crawler's mechanical and electrical dynamics, and how they determine the crawling gait. Adaptive control of the electrical scales to optimally match the mechanical scales can be envisioned to achieve further efficiency, as in homeostatic regulation of neuronal circuits. Our approach can scale up to multiple sensorimotor loops inspired by biological central pattern generators.

翻译：我们提出并分析了一种脉冲控制器在软体爬行机器人运动控制中的适用性。受FitzHugh-Nagumo神经兴奋性模型的启发，我们设计了一种具有双稳态特性的控制器，其电路实现形式为电子触发器，在与被动式爬行机构耦合时能够按需产生脉冲信号。来自爬行机构的本体感觉信号将控制器的双稳态转化为节律性脉冲输出。输出电压进而驱动爬行器的执行器，通过蠕动波产生运动。我们通过几何分析证明该控制策略能够实现内源性爬行。这种机电感觉运动互连结构提供了具身化的负反馈调节机制，促进了运动功能。量纲分析揭示了爬行器机械与电气动力学的特征尺度及其对爬行步态的决定作用。通过自适应调节电气尺度以最优匹配机械尺度（类似神经回路的内稳态调节机制），可进一步提升运动效率。该方法可扩展至受生物中枢模式发生器启发的多感觉运动环路系统。