论文标题
步态频率夹带的尖峰神经状态机在灵活的模块化机器人中
Spiking neural state machine for gait frequency entrainment in a flexible modular robot
论文作者
论文摘要
我们提出了一个基于可动的松弛振荡器模块的神经形态闭环控制的模块化体系结构，该模块由三个尖峰神经元组成。像其生物学原型一样，该基本组件对参数变化具有鲁棒性，但可以通过外部输入来调节。通过组合这些模块，我们可以构建一种能够产生腿部运动所需的循环或重复行为的神经状态机。该方法的具体案例研究是由由柔性塑料体积像素构成的模块化机器人提供的，在该机器人中，我们通过将十二个神经元的最小神经元系统组织为四个模块，从而产生了向机器人固有频率夹带的正向爬行步态。
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.
