相关论文: Excitable crawling
Inspired by spiking neural feedback, we propose a spiking controller for efficient locomotion in a soft robotic crawler. Its bistability, akin to neural fast positive feedback, combined with a sensorimotor slow negative feedback loop,…
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…
An electronic circuit device, inspired on the FitzHugh-Nagumo model of neuronal excitability, was constructed and shown to operate with characteristics compatible with those of biological sensory neurons. The nonlinear dynamical model of…
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…
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…
The excitability property of spiking neurons describes their capability to output an action potential as a real-time response to an input synaptic excitation current and is central to the event-based neuromorphic computing paradigm. The…
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…
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…
Spiking Neural Networks are powerful computational modelling tools that have attracted much interest because of the bioinspired modelling of synaptic interactions between neurons. Most of the research employing spiking neurons has been…
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…
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 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…
In this paper, an adaptive control scheme based on using neural networks is designed to guarantee the desired behavior of a micro-robot which is equipped with vibrating actuators and follows the principle of slip-stick movement. There are…
Diffusive memristors owing to their ability to produce current spiking when a constant or slowly changing voltage is applied are competitive candidates for the development of artificial electronic neurons. These artificial neurons can be…
A unique feature of neuromorphic computing is that memory is an implicit part of processing through traces of past information in the system's collective dynamics. The extent of memory about past inputs is commonly quantified by the…
There has been a strong push recently to examine biological scale simulations of neuromorphic algorithms to achieve stronger inference capabilities. This paper presents a set of piecewise linear spiking neuron models, which can reproduce…
Generating robust locomotion for a humanoid robot in the presence of disturbances is difficult because of its high number of degrees of freedom and its unstable nature. In this paper, we used the concept of Divergent Component of…
The animal nervous system offers a model of computation combining digital reliability and analog efficiency. Understanding how this sweet spot can be realized is a core question of neuromorphic engineering. To this aim, this paper explores…
We show analytically using a macrospin approximation that easy-plane spin Hall nano-oscillators excited by a spin-current polarized perpendicularly to the easy-plane have phase dynamics analogous to that of Josephson junctions. Similarly to…
Spiking neural network offers the most bio-realistic approach to mimic the parallelism and compactness of the human brain. A spiking neuron is the central component of an SNN which generates information-encoded spikes. We present a…