相关论文: Excitable crawling
The experimental control of synergistic chemomechanical dynamics of catalytically active microgels (microreactors) is a key prerequisite for the design of adaptive and biomimetic materials. Here, we report a minimalistic model of…
This work introduces a fully tunable, ultra-low power unipolar memory cell inspired by the Schmitt-trigger comparator and designed in CMOS using only nine transistors. The proposed circuit operates entirely in the current domain and…
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…
How spiking neuronal networks encode memories in their different time and spatial scales constitute a fundamental topic in neuroscience and neuro-inspired engineering. Much attention has been paid to large networks and long-term memory, for…
Brain dynamics can exhibit narrow-band nonlinear oscillations and multistability. For a subset of disorders of consciousness and motor control, we hypothesize that some symptoms originate from the inability to spontaneously transition from…
Despite their attractiveness as metastability filters, Schmitt-Triggers can suffer from metastability themselves. Therefore, in the selection or construction of a suitable Schmitt-Trigger implementation, it is a necessity to accurately…
Fully soft bistable mechanisms have shown extensive applications ranging from soft robotics, wearable devices, and medical tools, to energy harvesting. However, the lack of design and fabrication methods that are easy and potentially…
This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…
Neuromorphic systems that densely integrate CMOS spiking neurons and nano-scale memristor synapses open a new avenue of brain-inspired computing. Existing silicon neurons have molded neural biophysical dynamics but are incompatible with…
Available possibilities to prevent a biped robot from falling down in the presence of severe disturbances are mainly Center of Pressure (CoP) modulation, step location and timing adjustment, and angular momentum regulation. In this paper,…
Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges…
This paper presents the design of an extremum seeking controller based on sliding modes and cyclic search for real-time optimization of non-linear multivariable dynamic systems. These systems have arbitrary relative degree, compensated by…
Understanding how the brain learns to compute functions reliably, efficiently and robustly with noisy spiking activity is a fundamental challenge in neuroscience. Most sensory and motor tasks can be described as dynamical systems and could…
Legged robots have significant potential to operate in highly unstructured environments. The design of locomotion control is, however, still challenging. Currently, controllers must be either manually designed for specific robots and tasks,…
Biped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite the many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This…
The inner operations of the human brain as a biological processing system remain largely a mystery. Inspired by the function of the human brain and based on the analysis of simple neural network systems in other species, such as Drosophila,…
Spike-timing dependent plasticity (STDP) is an organizing principle of biological neural networks. While synchronous firing of neurons is considered to be an important functional block in the brain, how STDP shapes neural networks possibly…
Micro-organisms propel themselves in viscous environments by the periodic, nonreciprocal beating of slender appendages known as flagella. Active materials have been widely exploited to mimic this form of locomotion. However, the realization…
Soft robotics increasingly relies on smart materials and innovative structures, with bistable tape springs emerging as a promising option. These structures exhibit intriguing dynamic behaviors, such as oscillation, due to their inherent…
Neuromorphic hardware has several promising advantages compared to von Neumann architectures and is highly interesting for robot control. However, despite the high speed and energy efficiency of neuromorphic computing, algorithms utilizing…