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Closed-loop Robots Driven by Short-Term Synaptic Plasticity: Emergent Explorative vs. Limit-Cycle Locomotion

Laura Martin, Bulcsú Sándor, Claudius Gros
2016 Frontiers in Neurorobotics  
We examine the hypothesis, that short-term synaptic plasticity (STSP) may generate self-organized motor patterns.  ...  Regular locomotion corresponds to stable limit cycles in the sensorimotor loop, which may be characterized in turn by arbitrary angles of propagation.  ...  This robot is driven exclusively by STSP, with locomotion coming to a stillstand both in the absence of synaptic plasticity and when the feedback from the environment is cut off, e.g., when the gravitational  ... 
doi:10.3389/fnbot.2016.00012 pmid:27803661 pmcid:PMC5067527 fatcat:m2ia35jgnfhmld5amhdg3yg66q

Information Driven Self-Organization of Complex Robotic Behaviors

Georg Martius, Ralf Der, Nihat Ay, Josh Bongard
2013 PLoS ONE  
The behavior can be decomposed into a succession of low-dimensional modes that increasingly explore the behavior space.  ...  Moreover, a jointly controlled humanoid robot develops a high behavioral variety depending on its physics and the environment it is dynamically embedded into.  ...  Instead the latter is selfregulating by the closed loop setting.  ... 
doi:10.1371/journal.pone.0063400 pmid:23723979 pmcid:PMC3664628 fatcat:rapqcmyrxbbafpxzlu7zzahnji

Extended Neural Metastability in an Embodied Model of Sensorimotor Coupling

Miguel Aguilera, Manuel G. Bedia, Xabier E. Barandiaran
2016 Frontiers in Systems Neuroscience  
a robotic agent in a behavioral preference task.  ...  of additional metastable states which are not found in the brain in isolation but extended to the whole system of sensorimotor interaction, (2) the synaptic plasticity of the agent is fundamental to sustain  ...  Hypotheses addressing this issue propose that brain organization consists in a plastic system of open loops developed in the process of life and closed to full functional cycles in every interaction with  ... 
doi:10.3389/fnsys.2016.00076 pmid:27721746 pmcid:PMC5033977 fatcat:n6lofmiq3bfs5bp6vtrfeercim

Flexible Spiking CPGs for Online Manipulation During Hexapod Walking

Beck Strohmer, Poramate Manoonpong, Leon Bonde Larsen
2020 Frontiers in Neurorobotics  
However, in order to experiment with closed-loop control, we first need a better understanding of the dynamics of the system and how adaptation works.  ...  Neural signals for locomotion are influenced both by the neural network architecture and sensory inputs coordinating and adapting the gait to the environment.  ...  ACKNOWLEDGMENTS We would like to thank Mathias Thor for use of the MORF and his help interfacing with the robot.  ... 
doi:10.3389/fnbot.2020.00041 pmid:32676022 pmcid:PMC7333644 fatcat:ihougzcinnev7g2bnjxkilfv3e

39th Annual European Brain and Behaviour Society Abstracts

2007 Neural Plasticity  
Alessandro Treves (SISSA) was the head and inspiration of the Local Organizing committee, supported by P. Battaglini, L. Chelazzi, M. Diamond and G. Vallortigara.  ...  The EUROPEAN BRAIN AND BEHAVIOUR SOCIETY has held its 39th Annual General Meeting in Trieste, in the campus next to the Miramare castle and its park, co-hosted by SISSA, the International School for Advanced  ...  ACKNOWLEDGEMENT This work was supported by the Human Frontier Science Program (RG 107/200) and MRC.  ... 
doi:10.1155/2007/23250 fatcat:7xnzbdkh5bgqxfe5vemcbmoie4

Abstracts of the 16th Annual Meeting of The Israel Society for Neuroscience: Eilat, Israel, November 25–27, 2007

2007 Neural Plasticity  
The Israel Society for Neuroscience—ISFN—was founded in 1993 by a group of Israeli leading scientists conducting research in the area of neurobiology.  ...  The primary goal of the society was to promote and disseminate the knowledge and understanding acquired by its members, and to strengthen interactions between them.  ...  The contribution of astrocytic networks to short and long-term synaptic plasticity was also studied.  ... 
doi:10.1155/2007/30585 pmid:25148070 pmcid:PMC2366074 fatcat:u4tjfw6shnaxpnzwezieeiqnpm

From lamprey to salamander: an exploratory modeling study on the architecture of the spinal locomotor networks in the salamander

Andrej Bicanski, Dimitri Ryczko, Jean-Marie Cabelguen, Auke Jan Ijspeert
2013 Biological cybernetics  
ming to walking with a salamander robot driven by a spinal cord Ann NY Acad Sci 1198:94–104 model.  ...  Chevallier potentiate fast glutamatergic synaptic potentials by remov- et al. (2006) demonstrated that a concentration of apamine ing shunting mediated by SK channels co-localized close in  ... 
doi:10.1007/s00422-012-0538-y pmid:23463500 fatcat:dmauloteova4rhsieq5fyhpnle

26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3

Adam J. H. Newton, Alexandra H. Seidenstein, Robert A. McDougal, Alberto Pérez-Cervera, Gemma Huguet, Tere M-Seara, Caroline Haimerl, David Angulo-Garcia, Alessandro Torcini, Rosa Cossart, Arnaud Malvache, Kaoutar Skiker (+526 others)
2017 BMC Neuroscience  
We incorporated two extensions into the Kuramoto model: spatial embedding through coupling delays, and synaptic plasticity according to a Hebbian learning formulation containing learning associated parameters  ...  The initial development of KnowledgeSpace has been driven and supported by the International Neuroinformatics Coordinating Facility (INCF; incf.org), the Neuroscience Information Framework (NIF; neuinfo.org  ...  Inspired by [2] , we modeled a circular recurrent network of excitatory cells with short-term synaptic plasticity [5] and global inhibition.  ... 
doi:10.1186/s12868-017-0372-1 fatcat:q5x3vgivujgshmtthc6ki4fcfu

26th Annual Computational Neuroscience Meeting (CNS*2017): Part 1

Sue Denham, Panayiota Poirazi, Erik De Schutter, Karl Friston, Ho Ka Chan, Thomas Nowotny, Dongqi Han, Sungho Hong, Sophie Rosay, Tanja Wernle, Alessandro Treves, Sarah Goethals (+90 others)
2017 BMC Neuroscience  
We incorporated two extensions into the Kuramoto model: spatial embedding through coupling delays, and synaptic plasticity according to a Hebbian learning formulation containing learning associated parameters  ...  The initial development of KnowledgeSpace has been driven and supported by the International Neuroinformatics Coordinating Facility (INCF; incf.org), the Neuroscience Information Framework (NIF; neuinfo.org  ...  Inspired by [2] , we modeled a circular recurrent network of excitatory cells with short-term synaptic plasticity [5] and global inhibition.  ... 
doi:10.1186/s12868-017-0370-3 fatcat:qq2cmqlotbg7vpqlqmmcql4u5i

27th Annual Computational Neuroscience Meeting (CNS*2018): Part One

2018 BMC Neuroscience  
Acknowledgements This work was supported by JST CREST Grant Number JPMJCR17A4, Japan. Acknowledgement This work was supported by JST CREST Grant Number JPMJCR17A4, Japan.  ...  Acknowledgements This work is supported by Air Force grant FA9550-15-1-0398 and NSF grant IIS-1526642.  ...  Here we develop a model-based approach for decomposing these short-term changes into four components: (1) short-term synaptic plasticity, (2) integration of PSPs, (3) history effects, and (4) slow common  ... 
doi:10.1186/s12868-018-0452-x pmid:30373544 pmcid:PMC6205781 fatcat:xv7pgbp76zbdfksl545xof2vzy

28th Annual Computational Neuroscience Meeting: CNS*2019

2019 BMC Neuroscience  
Such invariants may underlie effective locomotion programs. In this work we show that flexible robot locomotion with cycle-by-cycle invariants can be directly driven by the living CPG rhythm.  ...  In the second case, the robot was moved by artificial oscillators from the ArduSnake library, whose parameters were set cycle-by-cycle Acknowledgement  ...  In addition, it enables short term synaptic plasticity to be incorporated.  ... 
doi:10.1186/s12868-019-0538-0 fatcat:3pt5qvsh45awzbpwhqwbzrg4su

Learning and control with large dynamic neural networks

E. Daucé
2007 The European Physical Journal Special Topics  
The section 5 presents some applications in the domain of closed-loop control systems and reinforcement learning.  ...  systems (2) the behavioral transitions that take place under adaptation processes are analyzed in terms of phase-transitions.  ...  giving rise to large amplitude limit cycles.  ... 
doi:10.1140/epjst/e2007-00060-8 fatcat:n242zw2zb5apxkorziam5r5afe

Evolutionary Robotics: What, Why, and Where to

Stephane Doncieux, Nicolas Bredeche, Jean-Baptiste Mouret, Agoston E. (Gusz) Eiben
2015 Frontiers in Robotics and AI  
It can be considered as a subfield of robotics that aims to create more robust and adaptive robots.  ...  Evolutionary robotics applies the selection, variation, and heredity principles of natural evolution to the design of robots with embodied intelligence.  ...  with the long-term changes, whereas learning would deal with short-term changes.  ... 
doi:10.3389/frobt.2015.00004 fatcat:xwwgonhohbh25dsaoofnps7wvq

Extraction of spatio-temporal primitives of emotional body expressions

Lars Omlor, Martin A. Giese
2007 Neurocomputing  
the progress on that limit cycle.  ...  There has been significant progress in understanding the mechanism underlying short-term synaptic plasticity.  ... 
doi:10.1016/j.neucom.2006.10.100 fatcat:esivhljzsbcihdl5qbp756josu

29th Annual Computational Neuroscience Meeting: CNS*2020

2020 BMC Neuroscience  
by visual experience, and (iii) how patterns of neural activity in the zebrafish brain develop to facilitate precisely targeted hunting behaviour.  ...  Hence, feedback from downstream visual cortical areas to V1 for better decoding (recognition), through analysis-by-synthesis, should query for additional information and be mainly directed at the foveal  ...  Acknowledgments: The research reported here was supported, in part, by NSF grant #1544383 and in part by AFOSR grant #FA9550-16-1-0410.  ... 
doi:10.1186/s12868-020-00593-1 pmid:33342424 fatcat:edosycf35zfifm552a2aogis7a
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