Spiking neural state machine for gait frequency entrainment in a flexible modular robot.

Spiking neural state machine for gait frequency entrainment in a flexible modular robot.

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 variation but can be modulated by external inputs. By combining...

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Bibliographic Details
Main Authors: Alex Spaeth, Maryam Tebyani, David Haussler, Mircea Teodorescu
Format: Article
Language:English
Published: Public Library of Science (PLoS) 2020-01-01
Series:PLoS ONE
Online Access:https://doi.org/10.1371/journal.pone.0240267
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spelling doaj-cb04c0c167414b03a59a8f85beb2d8022021-03-04T11:09:35ZengPublic Library of Science (PLoS)PLoS ONE1932-62032020-01-011510e024026710.1371/journal.pone.0240267Spiking neural state machine for gait frequency entrainment in a flexible modular robot.Alex SpaethMaryam TebyaniDavid HausslerMircea TeodorescuWe 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 variation but can be modulated by external inputs. By combining these modules, we can construct a neural state machine capable of generating the cyclic or repetitive behaviors necessary for legged locomotion. A concrete case study for the approach is provided by a modular robot constructed from flexible plastic volumetric pixels, in which we produce a forward crawling gait entrained to the natural frequency of the robot by a minimal system of twelve neurons organized into four modules.https://doi.org/10.1371/journal.pone.0240267
collection DOAJ
language English
format Article
sources DOAJ
author Alex Spaeth
Maryam Tebyani
David Haussler
Mircea Teodorescu
spellingShingle Alex Spaeth
Maryam Tebyani
David Haussler
Mircea Teodorescu
Spiking neural state machine for gait frequency entrainment in a flexible modular robot.
PLoS ONE
author_facet Alex Spaeth
Maryam Tebyani
David Haussler
Mircea Teodorescu
author_sort Alex Spaeth
title Spiking neural state machine for gait frequency entrainment in a flexible modular robot.
title_short Spiking neural state machine for gait frequency entrainment in a flexible modular robot.
title_full Spiking neural state machine for gait frequency entrainment in a flexible modular robot.
title_fullStr Spiking neural state machine for gait frequency entrainment in a flexible modular robot.
title_full_unstemmed Spiking neural state machine for gait frequency entrainment in a flexible modular robot.
title_sort spiking neural state machine for gait frequency entrainment in a flexible modular robot.
publisher Public Library of Science (PLoS)
series PLoS ONE
issn 1932-6203
publishDate 2020-01-01
description 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 variation but can be modulated by external inputs. By combining these modules, we can construct a neural state machine capable of generating the cyclic or repetitive behaviors necessary for legged locomotion. A concrete case study for the approach is provided by a modular robot constructed from flexible plastic volumetric pixels, in which we produce a forward crawling gait entrained to the natural frequency of the robot by a minimal system of twelve neurons organized into four modules.
url https://doi.org/10.1371/journal.pone.0240267
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AT davidhaussler spikingneuralstatemachineforgaitfrequencyentrainmentinaflexiblemodularrobot
AT mirceateodorescu spikingneuralstatemachineforgaitfrequencyentrainmentinaflexiblemodularrobot
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