Programmable coupled oscillators for synchronized locomotion

Sourav Dutta*, Abhinav Parihar, Abhishek Khanna, Jorge Gomez, Wriddhi Chakraborty, Matthew Jerry, Benjamin Grisafe, Arijit Raychowdhury, Suman Datta

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

50 Scopus citations


The striking similarity between biological locomotion gaits and the evolution of phase patterns in coupled oscillatory network can be traced to the role of central pattern generator located in the spinal cord. Bio-inspired robotics aim at harnessing this control approach for generation of rhythmic patterns for synchronized limb movement. Here, we utilize the phenomenon of synchronization and emergent spatiotemporal pattern from the interaction among coupled oscillators to generate a range of locomotion gait patterns. We experimentally demonstrate a central pattern generator network using capacitively coupled Vanadium Dioxide nano-oscillators. The coupled oscillators exhibit stable limit-cycle oscillations and tunable natural frequencies for real-time programmability of phase-pattern. The ultra-compact 1 Transistor-1 Resistor implementation of oscillator and bidirectional capacitive coupling allow small footprint area and low operating power. Compared to biomimetic CMOS based neuron and synapse models, our design simplifies on-chip implementation and real-time tunability by reducing the number of control parameters.

Original languageEnglish
Article number3299
JournalNature Communications
Issue number1
StatePublished - 1 Dec 2019
Externally publishedYes

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© 2019, The Author(s).


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