A Framework for Coupled Simulations of Robots and Spiking Neuronal Networks

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• 作者：Georg Hinkel ; Henning Groenda ; Sebastian Krach…
• 关键词：Neurorobotics ; Human brain ; Spiking neuronal networks ; Domain ; specific languages ; Model ; driven engineering
• 刊名：Journal of Intelligent & Robotic Systems
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：85
• 期：1
• 页码：71-91
• 全文大小：4421KB
• 刊物类别：Engineering
• 刊物主题：Control, Robotics, Mechatronics; Electrical Engineering; Artificial Intelligence (incl. Robotics); Mechanical Engineering;
• 出版者：Springer Netherlands
• ISSN：1573-0409
• 卷排序：85

文摘

Bio-inspired robots still rely on classic robot control although advances in neurophysiology allow adaptation to control as well. However, the connection of a robot to spiking neuronal networks needs adjustments for each purpose and requires frequent adaptation during an iterative development. Existing approaches cannot bridge the gap between robotics and neuroscience or do not account for frequent adaptations. The contribution of this paper is an architecture and domain-specific language (DSL) for connecting robots to spiking neuronal networks for iterative testing in simulations, allowing neuroscientists to abstract from implementation details. The framework is implemented in a web-based platform. We validate the applicability of our approach with a case study based on image processing for controlling a four-wheeled robot in an experiment setting inspired by Braitenberg vehicles.