Related papers: Rapid rhythmic entrainment in bio-inspired central…
Freezing of Gait (FoG) is a common gait deficit among patients diagnosed with Parkinson's Disease (PD). In order to help these patients recover from FoG episodes, Rhythmic Auditory Stimulation (RAS) is needed. The authors propose a…
This study explores the design and control of the behaviour of agents and robots using simple circuits of spiking neurons and Spike Timing Dependent Plasticity (STDP) as a mechanism of associative and unsupervised learning. Based on a…
In this paper, a simple Neural controller has been used to achieve stable walking in a NAO biped robot, with 22 degrees of freedom that implemented in a virtual physics-based simulation environment of Robocup soccer simulation environment.…
The circadian clocks keeping time of day in many living organisms rely on self-sustained biochemical oscillations which can be entrained by external cues, such as light, to the 24-hour cycle induced by Earth rotation. However, environmental…
This paper introduces an adaptive-neuro geometric control for a centralized multi-quadrotor cooperative transportation system, which enhances both adaptivity and disturbance rejection. Our strategy is to coactively tune the model parameters…
In this paper, we propose the nonlinearity generation method to speed up and stabilize the training of deep convolutional neural networks. The proposed method modifies a family of activation functions as nonlinearity generators (NGs). NGs…
We demonstrate that time-delayed feedback control can be improved by adaptively tuning the feedback gain. This adaptive controller is applied to the stabilization of an unstable fixed point and an unstable periodic orbit embedded in a…
Neural coupled oscillators are a useful building block in numerous models and applications. They were analyzed extensively in theoretical studies and more recently, in biologically realistic simulations of spiking neural networks. The…
This study proposes a step adaptation framework for running through spring-mass trajectories and deadbeat control gain libraries. It includes four main parts: (1) Automatic spring-mass trajectory library generation; (2) Deadbeat control…
Accurate temporal segmentation of human actions is critical for intelligent robots in collaborative settings, where a precise understanding of sub-activity labels and their temporal structure is essential. However, the inherent noise in…
We propose an algorithm to actively estimate the parameters of a linear dynamical system. Given complete control over the system's input, our algorithm adaptively chooses the inputs to accelerate estimation. We show a finite time bound…
Advances in legged robotics are strongly rooted in animal observations. A clear illustration of this claim is the generalization of Central Pattern Generators (CPG), first identified in the cat spinal cord, to generate cyclic motion in…
We present cuGUGA, an operator-direct graphical unitary group approach (GUGA) configuration interaction (CI) solver in a spin-adapted configuration state function (CSF) basis. Dynamic-programming walk counts provide constant-time CSF…
Robotic manipulators often face challenges in handling objects of different sizes and materials, limiting their effectiveness in practical applications. This issue is particularly pronounced when manipulating meter-scale objects or those…
This study introduces a novel application of a Generative Pre-trained Transformer (GPT) model tailored for photoplethysmography (PPG) signals, serving as a foundation model for various downstream tasks. Adapting the standard GPT…
The generation of high-quality medical time series data is essential for advancing healthcare diagnostics and safeguarding patient privacy. Specifically, synthesizing realistic phonocardiogram (PCG) signals offers significant potential as a…
Quadruped locomotion is rapidly maturing to a degree where robots now routinely traverse a variety of unstructured terrains. However, while gaits can be varied typically by selecting from a range of pre-computed styles, current planners are…
Whole-body optimizers have been successful at automatically computing complex dynamic locomotion behaviors. However they are often limited to offline planning as they are computationally too expensive to replan with a high frequency.…
Freezing of gait (FOG) is a common and debilitating gait impairment in Parkinson's disease. Further insight into this phenomenon is hampered by the difficulty to objectively assess FOG. To meet this clinical need, this paper proposes an…
Autonomous circadian clocks drive daily rhythms in physiology and behaviour. A network of coupled neurons, the suprachiasmatic nucleus (SCN), serves as a robust self-sustained circadian pacemaker. Synchronization of this timer to the…