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A Framework for Coupled Simulations of Robots and Spiking Neuronal Networks [in press]

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

Abstract: 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.

Zugehörige Institution(en) am KIT Forschungszentrum Informatik, Karlsruhe (FZI)
Publikationstyp Zeitschriftenaufsatz
Jahr 2016
Sprache Englisch
Identifikator DOI: 10.1007/s10846-016-0412-6
ISSN: 0921-0296, 1573-0409
URN: urn:nbn:de:swb:90-595373
KITopen ID: 1000059537
Erschienen in Journal of intelligent and robotic systems
Seiten 1-22
Schlagworte Neurorobotics, Human brain, Spiking neuronal networks, Domain-specific languages, Model-driven engineering
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