相关论文: Bioinspired Smooth Neuromorphic Control for Roboti…

Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…

This paper presents the self-organized neuromorphic architecture named SOMA. The objective is to study neural-based self-organization in computing systems and to prove the feasibility of a self-organizing hardware structure. Considering…

Spiking neural networks and neuromorphic hardware platforms that simulate neuronal dynamics are getting wide attention and are being applied to many relevant problems using Machine Learning. Despite a well-established mathematical…

As the embodiment gap between a robot and a human narrows, new opportunities arise to leverage datasets of humans interacting with their surroundings for robot learning. We propose a novel technique for training sensorimotor policies with…

Neuromorphic sampling is a paradigm shift in analog-to-digital conversion where the acquisition strategy is opportunistic and measurements are recorded only when there is a significant change in the signal. Neuromorphic sampling has given…

Wearable assistive robots (WR) for the lower extremity are extensively documented in literature. Various interfaces have been designed to control these devices during gait and balance activities. However, achieving seamless and intuitive…

Biological and robotic grasp and manipulation are undeniably similar at the level of mechanical task performance. However, their underlying fundamental biological vs. engineering mechanisms are, by definition, dramatically different and can…

We review how sensorimotor control is dictated by interacting neural populations, optimal feedback mechanisms, and the biomechanics of bodies. First, we outline the distributed anatomical loops that shuttle sensorimotor signals between…

Neuromorphic computing is henceforth a major research field for both academic and industrial actors. As opposed to Von Neumann machines, brain-inspired processors aim at bringing closer the memory and the computational elements to…

Reproducing the capabilities of the human sense of touch in machines is an important step in enabling robot manipulation to have the ease of human dexterity. A combination of robotic technologies will be needed, including soft robotics,…

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…

We propose a neural information processing system which is obtained by re-purposing the function of a biological neural circuit model, to govern simulated and real-world control tasks. Inspired by the structure of the nervous system of the…

Controlling a high degrees of freedom humanoid robot is acknowledged as one of the hardest problems in Robotics. Due to the lack of mathematical models, an approach frequently employed is to rely on human intuition to design keyframe…

Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…

Insect vision supports complex behaviors including associative learning, navigation, and object detection, and has long motivated computational models for understanding biological visual processing. However, many contemporary models…

Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robotic end-effectors can adapt their shape…

Recent trends in humanoid robot control have successfully employed imitation learning to enable the learned generation of smooth, human-like trajectories from human data. While these approaches make more realistic motions possible, they are…

Soft materials have many important roles in animal locomotion and object manipulation. In robotic applications soft materials can store and release energy, absorb impacts, increase compliance and increase the range of possible shape…

The growing need to automate processes in industrial settings has led to tremendous growth in the robotic systems and especially the robotic arms. The paper assumes the design, modeling and control of a robotic arm to suit industrial…

Coordinated motion control in swarm robotics aims to ensure the coherence of members in space, i.e., the robots in a swarm perform coordinated movements to maintain spatial structures. This problem can be modeled as a tracking control…