Dynamical Systems, Wave-Based Computation and Neuro-Inspired Robots

The author deals with a new way to conceive bio-robotics, linking this subject to the theory of nonlinear dynamical systems and analog/logic circuits, like Cellular Nonlinear Networks and spiking networks. The topic is treated as a series of lessons.

This volume is a special Issue on "Dynamical Systems, Wave based computation and neuro inspired robots'^ based on a Course carried out at the CISM in Udine (Italy), the last week of September, 2003. From the topics treated within that Course, several new ideas were f- mulated, which led to a new kind of approach to locomotion and p- ception, grounded both on biologically inspired issues and on nonlinear dynamics. The Course was characterised by a high degree of multi disciplinarity. In fact, in order to conceive, design and build neuro inspired machines, it is necessary to deeply scan into different d- ciplines, including neuroscience. Artificial Intelligence, Biorobotics, Dynamical Systems theory and Electronics. New types of moving machines should be more closely related to the biological rules, not discarding the real implementation issues. The recipe has to include neurobiological paradigms as well as behavioral aspects from the one hand, new circuit paradigms, able of real time control of multi joint robots on the other hand. These new circuit paradigms are based on the theory of complex nonlinear dynamical systems, where aggregates of simple non linear units into ensembles of lattices, have the pr- erty that the solution set is much richer than that one shown by the single units. As a consequence, new solutions ^'emerge'\ which are often characterized by order and harmony.

Texte du rabat

This volume is a special Issue on "Dynamical Systems, Wave based computation and neuro inspired robots'^ based on a Course carried out at the CISM in Udine (Italy), the last week of September, 2003. From the topics treated within that Course, several new ideas were f- mulated, which led to a new kind of approach to locomotion and p- ception, grounded both on biologically inspired issues and on nonlinear dynamics. The Course was characterised by a high degree of multi disciplinarity. In fact, in order to conceive, design and build neuro inspired machines, it is necessary to deeply scan into different d- ciplines, including neuroscience. Artificial Intelligence, Biorobotics, Dynamical Systems theory and Electronics. New types of moving machines should be more closely related to the biological rules, not discarding the real implementation issues. The recipe has to include neurobiological paradigms as well as behavioral aspects from the one hand, new circuit paradigms, able of real time control of multi joint robots on the other hand. These new circuit paradigms are based on the theory of complex nonlinear dynamical systems, where aggregates of simple non linear units into ensembles of lattices, have the pr- erty that the solution set is much richer than that one shown by the single units. As a consequence, new solutions ^'emerge'\ which are often characterized by order and harmony.

Contenu
Foundations of Neurodynamics and wave based computation for locomotion modeling.- Overview of Motor Systems. Types of Movements: Reflexes, Rhythmical and Voluntary Movements.- Initiation and generation of Movements: 1. Central Pattern Generators.- Initiation and Generation of Movements: 2. Command Systems.- Stabilization of Posture.- Locomotion as a Spatial-temporal Phenomenon: Models of the Central Pattern Generator.- Design of CPGs via spatial distributed non linear dynamical systems.- Realization of bio-inspired locomotion machines via nonlinear dynamical circuits.- Using robots to model biological behaviour.- From sensing toward perception.- Spiking neuron controllers for a sound localising robot.- Combining several sensorimotor systems: from insects to robot implementations.- Sensory Feedback in locomotion control.- A looming detector for collision avoidance.- Hearing: recognition and localization of sound.- Perception and robot behavior.- Practical Issues.- Practical Issues of Dynamical Systems, Wave based Computation and Neuro-Inspired Robots Introduction.- Locomotion control of a hexapod by Turing patterns.- Visual Control of a Roving Robot based on Turing Patterns.- Wave-based control of a bio-inspired hexapod robot.- Cricket phonotaxis: simple Lego implementation.- CNN-based control of a robot inspired to snakeboard locomotion.- Cooperative behavior of robots controlled by CNN autowaves.