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
Published inarXiv.org
Main Authors Spaeth, Alex, Tebyani, Maryam, Haussler, David, Teodorescu, Mircea
Format Paper Journal Article
LanguageEnglish
Published Ithaca Cornell University Library, arXiv.org 25.09.2020
Subjects
Computer Science - Neural and Evolutionary Computing
Computer Science - Robotics
Entrainment
Gait
Locomotion
Modular construction
Modules
Neurons
Parameter robustness
Relaxation oscillators
Resonant frequencies
Robots
Spiking
State machines
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Summary: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.
ISSN:2331-8422
DOI:10.48550/arxiv.2007.07346