相关论文: Many-Joint Robot Arm Control with Recurrent Spikin…

With the rise of artificial intelligence, neural network simulations of biological neuron models are being explored to reduce the footprint of learning and inference in resource-constrained task scenarios. A mainstream type of such networks…

This paper presents a multimodal control framework based on spiking neural networks (SNNs) for robotic arms aboard space stations. It is designed to cope with the constraints of limited onboard resources while enabling autonomous…

Despite recent progress in training spiking neural networks (SNNs) for classification, their application to continuous motor control remains limited. Here, we demonstrate that fully spiking architectures can be trained end-to-end to control…

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…

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…

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…

As robotic arm applications expand beyond traditional industrial settings into service-oriented domains such as catering, household and retail, existing control algorithms struggle to achieve the level of agile manipulation required in…

Compliant robots can be more versatile than traditional robots, but their control is more complex. The dynamics of compliant bodies can however be turned into an advantage using the physical reservoir computing frame-work. By feeding sensor…

Drones which can swarm and loiter in a certain area cost hundreds of dollars, but mosquitos can do the same and are essentially worthless. To control swarms of low-cost robots, researchers may end up spending countless hours brainstorming…

Spiking neural networks play an important role in brain-like neuromorphic computations and in studying working mechanisms of neural circuits. One drawback of training a large scale spiking neural network is that updating all weights is…

We introduce a neural network approach for generating and customizing the trajectory of a robotic arm, that guarantees precision and repeatability. To highlight the potential of this novel method, we describe the design and implementation…

In this paper, we explore the ability of a robot arm to learn the underlying operation space defined by the positions (x, y, z) that the arm's end-effector can reach, including disturbances, by deploying and thoroughly evaluating a Spiking…

In brain-machine interface (BMI) applications, a key challenge is the low information content and high noise level in neural signals, severely affecting stable robotic control. To address this challenge, we proposes a cooperative shared…

This study proposes a hybrid curriculum reinforcement learning (CRL) framework based on a fully spiking neural network (SNN) for 9-degree-of-freedom robotic arms performing target reaching and grasping tasks. To reduce network complexity…

Biological sensing and processing is asynchronous and sparse, leading to low-latency and energy-efficient perception and action. In robotics, neuromorphic hardware for event-based vision and spiking neural networks promises to exhibit…

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…

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…

Using precise times of every spike, spiking supervised learning has more effects on complex spatial-temporal pattern than supervised learning only through neuronal firing rates. The purpose of spiking supervised learning after…

Learning weights in a spiking neural network with hidden neurons, using local, stable and online rules, to control non-linear body dynamics is an open problem. Here, we employ a supervised scheme, Feedback-based Online Local Learning Of…