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A Framework for Coupled Simulations of Robots and Spiking Neuronal Networks

Hinkel, Georg; Groenda, Henning; Krach, Sebastian; Vannucci, Lorenzo; Denninger, Oliver; Cauli, Nino; Ulbrich, Stefan; Roennau, Arne; Falotico, Egidio; Gewaltig, Marc-Oliver; Knoll, Alois; Dillmann, Rüdiger; Laschi, Cecilia; Reussner, Ralf


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.

Volltext §
DOI: 10.5445/IR/1000059537
DOI: 10.1007/s10846-016-0412-6
Zitationen: 13
Web of Science
Zitationen: 13
Zitationen: 15
Cover der Publikation
Zugehörige Institution(en) am KIT Universität Karlsruhe (TH) – Einrichtungen in Verbindung mit der Universität (Einrichtungen in Verbindung mit der Universität)
FZI Forschungszentrum Informatik (FZI)
Publikationstyp Zeitschriftenaufsatz
Publikationsjahr 2016
Sprache Englisch
Identifikator ISSN: 0921-0296, 1573-0409
KITopen-ID: 1000059537
Erschienen in Journal of Intelligent & Robotic Systems
Verlag Springer
Band 85
Heft 1
Seiten 71-91
Schlagwörter Neurorobotics, Human brain, Spiking neuronal networks, Domain-specific languages, Model-driven engineering
Nachgewiesen in Web of Science
KIT – Die Forschungsuniversität in der Helmholtz-Gemeinschaft
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