Related papers: Rapid rhythmic entrainment in bio-inspired central…
Robotic systems operating in real-world environments inevitably encounter unobserved dynamics shifts during continuous execution, including changes in actuation, mass distribution, or contact conditions. When such shifts occur mid-episode,…
Robots for physical Human-Robot Collaboration (pHRC) systems need to change their behavior and how they operate in consideration of several factors, such as the performance and intention of a human co-worker and the capabilities of…
To establish the relationship between locomotory behavior and dynamics of neural circuits in the nematode C. elegans we combined molecular and theoretical approaches. In particular, we quantitatively analyzed the motion of C. elegans with…
The schooling behavior of fish can be studied through simulations involving a large number of interacting particles. In such systems, each individual particle is guided by behavior rules, which include aggregation towards a centroid,…
We present a quantitative study of phase entrainment by periodic visual stimuli in a biologically inspired neural network. The objective is to understand the neuronal population dynamics that underlie phase entrainment of brain oscillations…
This paper studies a permutation binary neural network characterized by local binary connections, global permutation connections, and the signum activation function. Depending on the permutation connections, the network can generate various…
Spatiotemporal predictive learning (STPL) aims to forecast future frames from past observations and is essential across a wide range of applications. Compared with recurrent or hybrid architectures, pure convolutional models offer superior…
Neuromorphic architectures are ideally suited for the implementation of smart sensors able to react, learn, and respond to a changing environment. Our work uses the insect brain as a model to understand how heterogeneous architectures,…
Circadian rhythms are acquired through evolution to increase the chances for survival through synchronizing with the daylight cycle. Reliable synchronization is realized through two trade-off properties: regularity to keep time precisely,…
Motion systems are often subject to disturbances such as cogging, commutation errors, and imbalances, that vary with velocity and appear periodic in time for constant operating velocities. The aim of this paper is to develop a repetitive…
Photoplethysmogram (PPG) is increasingly used to provide monitoring of the cardiovascular system under ambulatory conditions. Wearable devices like smartwatches use PPG to allow long term unobtrusive monitoring of heart rate in free living…
This paper presents a three-layered architecture that enables stylistic locomotion with online contact location adjustment. Our method combines an autoregressive Deep Neural Network (DNN) acting as a trajectory generation layer with a…
ECG heartbeat classification plays a vital role in diagnosis of cardiac arrhythmia. The goal of the Physionet/CinC 2021 challenge was to accurately classify clinical diagnosis based on 12, 6, 4, 3 or 2-lead ECG recordings in order to aid…
Step adjustment for humanoid robots has been shown to improve robustness in gaits. However, step duration adaptation is often neglected in control strategies. In this paper, we propose an approach that combines both step location and timing…
Gait adaptation is an important part of gait analysis and its neuronal origin and dynamics has been studied extensively. In neurorehabilitation, it is important as it perturbs neuronal dynamics and allows patients to restore some of their…
Brain-machine interfaces (BMIs) help the disabled restore body functions by translating neural activity into digital commands to control external devices. Neural adaptation, where the brain signals change in response to external stimuli or…
We study a system of dynamical units, each of which shows excitable or oscillatory behavior, depending on the choice of parameters. When we couple these units with repressive bonds, we can control the duration of collective oscillations for…
Quadruped robots are showing impressive abilities to navigate the real world. If they are to become more integrated into society, social trust in interactions with humans will become increasingly important. Additionally, robots will need to…
This paper shows how the dynamics of the PhotoPlethysmoGraphic (PPG) signal, an easily accessible biological signal from which valuable diagnostic information can be extracted, of young and healthy individuals performs at different…
Nonlinear model predictive locomotion controllers based on the reduced centroidal dynamics are nowadays ubiquitous in legged robots. These schemes, even if they assume an inherent simplification of the robot's dynamics, were shown to endow…