Control of a Humanoid NAO Robot by an Adaptive Bioinspired Cerebellar Module in 3D Motion Tasks

• Published in: Computational intelligence and neuroscience Vol. 2019; no. 2019; pp. 1 - 15
• Main Authors: D'Angelo, Egidio, Casellato, Claudia, Martina, Dario, Antonietti, Alberto, Pedrocchi, A.
• Format: Journal Article
• Language: English
• Published: Cairo, Egypt Hindawi Publishing Corporation 01.01.2019; Hindawi; John Wiley & Sons, Inc
• Subjects: Actuators; Adaptation; Adaptation, Physiological; Adaptive control; Animal cognition; Behavior; Biomimetics; Cerebellar plasticity; Cerebellum; Cerebellum - cytology; Cerebellum - physiology; Coding; Computer Simulation; Controllers; Extinction behavior; Firing pattern; Human behavior; Humanoid; Humans; Models, Neurological; Motion; Motor task performance; Motors; Neural networks; Neuronal Plasticity; Neurons; Neurophysiology; Neurosciences; Real time; Robot control; Robotics; Robots; Spiking; Three dimensional models; Three dimensional motion; Transfer (Psychology)

A bioinspired adaptive model, developed by means of a spiking neural network made of thousands of artificial neurons, has been leveraged to control a humanoid NAO robot in real time. The learning properties of the system have been challenged in a classic cerebellum-driven paradigm, a perturbed upper...