Related papers: Spiking control systems for soft robotics: a rhyth…

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…

We propose a modular architecture for neuromorphic closed-loop control based on bistable relaxation oscillator modules consisting of three spiking neurons each. Like its biological prototypes, this basic component is robust to parameter…

Inspired by the dynamic coupling of moto-neurons and physical elasticity in animals, this work explores the possibility of generating locomotion gaits by utilizing physical oscillations in a soft snake by means of a low-level spiking neural…

Spikes and rhythms organize control and communication in the animal world, in contrast to the bits and clocks of digital technology. As continuous-time signals that can be counted, spikes have a mixed nature. This paper reviews ongoing…

Neuromorphic computing is a new paradigm for design of both the computing hardware and algorithms inspired by biological neural networks. The event-based nature and the inherent parallelism make neuromorphic computing a promising paradigm…

Soft robots offer a frontier in robotics with enormous potential for safe human-robot interaction and agility in uncertain environments. A stepping stone towards unlocking their potential is a control theory tailored to soft robotics,…

The work presented here is a novel biological approach for the compliant control of a robotic arm in real time (RT). We integrate a spiking cerebellar network at the core of a feedback control loop performing torque-driven control. The…

Soft robots have gained significant attention due to their flexibility and safety, particularly in human-centric applications. The co-design of structure and controller in soft robotics has presented a longstanding challenge owing to the…

Despite neuromorphic engineering promises the deployment of low latency, adaptive and low power systems that can lead to the design of truly autonomous artificial agents, the development of a fully neuromorphic artificial agent is still…

Neuromorphic engineering is an emerging research domain that aims to realize important implementation advantages that brain-inspired technologies can offer over classical digital technologies, including energy efficiency, adaptability, and…

In recent years, locomotion mechanisms exhibited by vertebrate animals have been the inspiration for the improvement in the performance of robotic systems. These mechanisms include the adaptability of their locomotion to any change…

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…

Brain-inspired neuromorphic technologies can offer important advantages over classical digital clock-based technologies in various domains, including systems and control engineering. Indeed, neuromorphic engineering could provide…

Animal brains exhibit remarkable efficiency in perception and action, while being robust to both external and internal perturbations. The means by which brains accomplish this remains, for now, poorly understood, hindering our understanding…

Unlike traditional artificial neural networks (ANNs), biological neuronal networks solve complex cognitive tasks with sparse neuronal activity, recurrent connections, and local learning rules. These mechanisms serve as design principles in…

Efficient and robust control using spiking neural networks (SNNs) is still an open problem. Whilst behaviour of biological agents is produced through sparse and irregular spiking patterns, which provide both robust and efficient control,…

Neurons communicate with downstream systems via sparse and incredibly brief electrical pulses, or spikes. Using these events, they control various targets such as neuromuscular units, neurosecretory systems, and other neurons in connected…

Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…

The development of artificial intelligence towards real-time interaction with the environment is a key aspect of embodied intelligence and robotics. Inverse dynamics is a fundamental robotics problem, which maps from joint space to torque…

In this paper we analyze a neuromorphic controller, inspired by the leaky integrate-and-fire neuronal model, in closed-loop with a single-input single-output linear time-invariant system. The controller consists of two neuron-like variables…