Related papers: Bioinspired Smooth Neuromorphic Control for Roboti…
In this work, an all-in-one neuromorphic controller system with reduced latency and power consumption for a robotic arm is presented. Biological muscle movement consists of stretching and shrinking fibres via spike-commanded signals that…
Robotic navigation has historically struggled to reconcile reactive, sensor-based control with the decisive capabilities of model-based planners. This duality becomes critical when the absence of a predominant option among goals leads to…
Humans have an exquisite sense of touch which robotic and prosthetic systems aim to recreate. We developed algorithms to create neuron-like (neuromorphic) spiking representations of texture that are invariant to the scanning speed and…
Research on neuromorphic computing is driven by the vision that we can emulate brain-like computing capability, learning capability, and energy-efficiency in novel hardware. Unfortunately, this vision has so far been pursued in a…
Neuromorphic processors like Loihi offer a promising alternative to conventional computing modules for endowing constrained systems like micro air vehicles (MAVs) with robust, efficient and autonomous skills such as take-off and landing,…
Neuromorphic processing promises high energy efficiency and rapid response rates, making it an ideal candidate for achieving autonomous flight of resource-constrained robots. It will be especially beneficial for complex neural networks as…
Neuromorphic engineering aims to incorporate the computational principles found in animal brains, into modern technological systems. Following this approach, in this work we propose a closed-loop neuromorphic control system for an…
A long-standing engineering problem, the control of soft robots is difficult because of their highly non-linear, heterogeneous, anisotropic, and distributed nature. Here, bridging engineering and biology, a neural reservoir is employed for…
This paper introduces the concept of employing neuromorphic methodologies for task-oriented underwater robotics applications. In contrast to the increasing computational demands of conventional deep learning algorithms, neuromorphic…
Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…
This paper presents the application of a learning control approach for the realization of a fast and reliable pick-and-place application with a spherical soft robotic arm. The arm is characterized by a lightweight design and exhibits…
Neuromorphic vision, inspired by biological neural systems, has recently gained significant attention for its potential in enhancing robotic autonomy. This paper presents a systematic exploration of a proposed Neuromorphic Navigation…
Air hockey demands split-second decisions at high puck velocities, a challenge we address with a compact network of spiking neurons running on a mixed-signal analog/digital neuromorphic processor. By co-designing hardware and learning…
We automate soft robotic hand design iteration by co-optimizing design and control policy for dexterous manipulation skills in simulation. Our design iteration pipeline combines genetic algorithms and policy transfer to learn control…
Neuromorphic engineering (NE) encompasses a diverse range of approaches to information processing that are inspired by neurobiological systems, and this feature distinguishes neuromorphic systems from conventional computing systems. The…
For safe and effective operation of humanoid robots in human-populated environments, the problem of commanding a large number of Degrees of Freedom (DoF) while simultaneously considering dynamic obstacles and human proximity has still not…
In the paper, we show how scalable, low-cost trunk-like robotic arms can be constructed using only basic 3D-printing equipment and simple electronics. The design is based on uniform, stackable joint modules with three degrees of freedom…
Soft robotics technologies have gained growing interest in recent years, which allows various applications from manufacturing to human-robot interaction. Pneumatic artificial muscle (PAM), a typical soft actuator, has been widely applied to…
Aquatic creatures exhibit remarkable adaptations of their body to efficiently interact with the surrounding fluid. The tight coupling between their morphology, motion, and the environment are highly complex but serves as a valuable example…
Neuromorphic engineering makes use of mixed-signal analog and digital circuits to directly emulate the computational principles of biological brains. Such electronic systems offer a high degree of adaptability, robustness, and energy…