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A Framework for Coupled Simulations of Robots and Spiking Neuronal Networks

Journal of Intelligent & Robotic Systems volume 85, pages 71–91 (2017)Cite this article

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.

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Affiliations

  1. FZI Forschungszentrum Informatik, Haid-und-Neu-Straße 10-14, 76131, Karlsruhe, Germany

    Georg Hinkel, Henning Groenda, Sebastian Krach, Oliver Denninger, Stefan Ulbrich, Arne Roennau, Rüdiger Dillmann & Ralf Reussner

  2. The BioRobotics Institute at Scuola Superiore Sant’Anna (SSSA), viale Rinaldo Piaggio 34, 56025, Pontedera, Italy

    Lorenzo Vannucci, Nino Cauli, Egidio Falotico & Cecilia Laschi

  3. Ècole Polytechnikum Fèdèral de Lausanne (EPFL), Station 1, 1015, Lausanne, Switzerland

    Marc-Oliver Gewaltig

  4. Technische Universität München (TUM), Arcisstraße 21, 80333, München, Germany

    Alois Knoll

Authors
  1. Georg Hinkel
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  2. Henning Groenda
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  3. Sebastian Krach
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  4. Lorenzo Vannucci
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  5. Oliver Denninger
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  6. Nino Cauli
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  7. Stefan Ulbrich
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  8. Arne Roennau
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  9. Egidio Falotico
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  10. Marc-Oliver Gewaltig
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  11. Alois Knoll
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  12. Rüdiger Dillmann
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  13. Cecilia Laschi
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  14. Ralf Reussner
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Corresponding author

Correspondence to Georg Hinkel.

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Hinkel, G., Groenda, H., Krach, S. et al. A Framework for Coupled Simulations of Robots and Spiking Neuronal Networks. J Intell Robot Syst 85, 71–91 (2017). https://doi.org/10.1007/s10846-016-0412-6

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  • DOI: https://doi.org/10.1007/s10846-016-0412-6

Keywords

  • Neurorobotics
  • Human brain
  • Spiking neuronal networks
  • Domain-specific languages
  • Model-driven engineering