从中央模式发生器网络和生物混合机器人的角度看仿生蛇运动

IF 0.8 Q4 ROBOTICS
Jérémy Cheslet, Romain Beaubois, Tomoya Duenki, Farad Khoyratee, Takashi Kohno, Yoshiho Ikeuchi, Timothée Lévi
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引用次数: 0

摘要

神经系统疾病影响着全球数百万人,需要先进的治疗方法,尤其是在人口老龄化的情况下。脑机接口(BMI)和神经义肢通过仿生尖峰神经网络(SNN)模拟生物动力学,有望解决残疾问题。中央模式发生器(CPG)是一种小型神经网络,通过生物仿真网络进行模拟,可以复制特定的运动模式。我们的建议包括在 FPGA 上实时实现生物仿真 SNN,利用生物仿真模型来模拟神经元、突触受体和突触可塑性。该系统集成在一个蛇形移动机器人中,神经元活动负责其运动,为研究脊髓损伤提供了一个多功能平台。最后,我们介绍了一个初步的闭环实验,涉及人工神经网络与生物神经细胞之间的双向互动,为生物混合机器人和深入了解神经群体的功能铺平了道路。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Biomimetic snake locomotion using central pattern generators network and bio-hybrid robot perspective

Neurological disorders affect millions globally and necessitate advanced treatments, especially with an aging population. Brain Machine Interfaces (BMIs) and neuroprostheses show promise in addressing disabilities by mimicking biological dynamics through biomimetic Spiking Neural Networks (SNNs). Central Pattern Generators (CPGs) are small neural networks that, emulated through biomimetic networks, can replicate specific locomotion patterns. Our proposal involves a real-time implementation of a biomimetic SNN on FPGA, utilizing biomimetic models for neurons, synaptic receptors and synaptic plasticity. The system, integrated into a snake-like mobile robot where the neuronal activity is responsible for its locomotion, offers a versatile platform to study spinal cord injuries. Lastly, we present a preliminary closed-loop experiment involving bidirectional interaction between the artificial neural network and biological neuronal cells, paving the way for bio-hybrid robots and insights into neural population functioning.

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来源期刊
CiteScore
2.00
自引率
22.20%
发文量
101
期刊介绍: Artificial Life and Robotics is an international journal publishing original technical papers and authoritative state-of-the-art reviews on the development of new technologies concerning artificial life and robotics, especially computer-based simulation and hardware for the twenty-first century. This journal covers a broad multidisciplinary field, including areas such as artificial brain research, artificial intelligence, artificial life, artificial living, artificial mind research, brain science, chaos, cognitive science, complexity, computer graphics, evolutionary computations, fuzzy control, genetic algorithms, innovative computations, intelligent control and modelling, micromachines, micro-robot world cup soccer tournament, mobile vehicles, neural networks, neurocomputers, neurocomputing technologies and applications, robotics, robus virtual engineering, and virtual reality. Hardware-oriented submissions are particularly welcome. Publishing body: International Symposium on Artificial Life and RoboticsEditor-in-Chiei: Hiroshi Tanaka Hatanaka R Apartment 101, Hatanaka 8-7A, Ooaza-Hatanaka, Oita city, Oita, Japan 870-0856 ©International Symposium on Artificial Life and Robotics
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