Dataset Information

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

ABSTRACT: 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 limb reaching protocol. The neurophysiological principles used to develop the model succeeded in driving an adaptive motor control protocol with baseline, acquisition, and extinction phases. The spiking neural network model showed learning behaviours similar to the ones experimentally measured with human subjects in the same task in the acquisition phase, while resorted to other strategies in the extinction phase. The model processed in real-time external inputs, encoded as spikes, and the generated spiking activity of its output neurons was decoded, in order to provide the proper correction on the motor actuators. Three bidirectional long-term plasticity rules have been embedded for different connections and with different time scales. The plasticities shaped the firing activity of the output layer neurons of the network. In the perturbed upper limb reaching protocol, the neurorobot successfully learned how to compensate for the external perturbation generating an appropriate correction. Therefore, the spiking cerebellar model was able to reproduce in the robotic platform how biological systems deal with external sources of error, in both ideal and real (noisy) environments.

SUBMITTER: Antonietti A

PROVIDER: S-EPMC6369512 | biostudies-literature | 2019

REPOSITORIES: biostudies-literature

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

Antonietti Alberto A Martina Dario D Casellato Claudia C D'Angelo Egidio E Pedrocchi Alessandra A

Computational intelligence and neuroscience 20190127

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 limb reaching protocol. The neurophysiological principles used to develop the model succeeded in driving an adaptive motor control protocol with baseline, acquisition, and extinction phases. The spik ...[more]

PMID: 30833964

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Project description:To accelerate the deep application of deep learning in text data processing, an English statistical translation system is established and applied to the question answering of humanoid robot. Firstly, the model of machine translation based on recursive neural network is implemented. A crawler system is established to collect English movie subtitle data. On this basis, an English subtitle translation system is designed. Then, combined with sentence embedding technology, the Particle Swarm Optimization (PSO) algorithm of meta-heuristic algorithm is adopted to locate the defects of translation software. A translation robot automatic question and answer interactive module is constructed. Additionally, the hybrid recommendation mechanism based on personalized learning is built using blockchain technology. Finally, the performance of translation model and software defect location model is evaluated. The results show that the Recurrent Neural Network (RNN) embedding algorithm has certain effect of word clustering. RNN embedded model has a strong ability to process short sentences. The strongest translated sentences are between 11 and 39 words long, while the weakest translated sentences are between 71 and 79 words long. Therefore, the model must strengthen the processing of long sentences, especially character-level input. The average sentence length is much longer than word-level input. The model based on PSO algorithm shows good accuracy in different data sets. This model averages better performance on Tomcat, standard widget toolkits, and Java development tool datasets than other comparison methods. The average reciprocal rank and average accuracy of the weight combination of PSO algorithm are very high. Moreover, this method is greatly affected by the dimension of the word embedding model, and the 300-dimension word embedding model has the best effect. To sum up, this study proposes a good statistical translation model for humanoid robot English translation, which lays the foundation for intelligent interaction between humanoid robots.

Dataset Information

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

Publications

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

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