A Memristor‐Based Bioinspired Multimodal Sensory Memory System for Sensory Adaptation of Robots

Xinqiang Pan, Jiejun Wang, Zhen Deng, Y. Shuai, W. Luo, Qin Xie, Yao Xiao, Song Tang, Shuwen Jiang, Chuangui Wu, Feng Zhu, Jianwei Zhang, W. Zhang
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引用次数: 3

Abstract

Sensory adaptation plays a critical role in humans interacting with the environment. Inspired by humans, realization of sensory adaptation on robots can make them adapt to the environment gradually. The gradual change of sensitivity that depends on recent experience of external stimuli is the most important process for the adaptation. To realize sensory adaptation, such change of sensitivity needs to be realized. It is proposed to fabricate the memristor based on single‐crystalline LiNbO3 thin film. The resistance of the memristor can be changed monotonically and gradually with the increase in the number of voltage pulses, which can be ascribed to the property of single‐crystalline thin films. Based on the characteristic, it is proposed to use the memristor as artificial synapse of the proposed bioinspired system, using conductance of the memristor to denote susceptibility value to realize the gradual change of sensitivity by recent external stimuli. A novel general excitation method of signals from multimodal sensors on memristor is proposed and utilized in the signal‐coupling module of the system, which makes the system realize sensory adaptation for different stimuli accepted by multimodal sensors. Using artificial sensory memory systems, sensory adaptation on robot is realized for the first time herein.
基于忆阻器的仿生多模态感觉记忆系统用于机器人的感觉适应
感觉适应在人类与环境的互动中起着至关重要的作用。受人类的启发,在机器人身上实现感官适应,可以使机器人逐渐适应环境。根据最近的外部刺激经验而逐渐改变的敏感性是适应的最重要过程。要实现感觉适应,就需要实现这种敏感性的变化。提出了用单晶LiNbO3薄膜制作忆阻器的方法。随着电压脉冲数的增加,忆阻器的电阻呈单调的渐变变化,这可归因于单晶薄膜的特性。基于这一特性,提出将忆阻器作为仿生系统的人工突触,用忆阻器的电导表示敏感值,实现近期外界刺激下灵敏度的逐渐变化。提出了一种新的多模态传感器信号在忆阻器上的通用激励方法,并将其应用于系统的信号耦合模块,使系统能够对多模态传感器接受的不同刺激实现感官适应。利用人工感觉记忆系统,首次实现了机器人的感觉自适应。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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