Spiking neural state machine for gait frequency entrainment in a flexible modular robot.
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ABSTRACT:
SUBMITTER: Spaeth A
PROVIDER: S-EPMC7577446 | biostudies-literature | 2020
REPOSITORIES: biostudies-literature
Publications
Spiking neural state machine for gait frequency entrainment in a flexible modular robot.
Spaeth Alex A Tebyani Maryam M Haussler David D Teodorescu Mircea M
PloS one 20201021 10
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 ...[more]
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