Compared to classic robotics, biological nervous systems respond to stimuli in a fast and efficient way regarding the body motor actions. Decision making, once the sensory information arrives to the brain, is in the order of ms, while the whole process from sensing to movement requires tens of ms. Classic robotic systems usually require complex computational abilities. Key differences between biological systems and robotic machines lie in the way information is coded and transmitted. A neuron is the "basic" element that constitutes biological nervous systems. Neurons communicate in an event-driven way through small currents or ionic pulses (spikes). When neurons are arranged in networks, they allow not only for the processing of sensory information, but also for the actuation over the muscles in the same spiking manner. This paper presents the application of a classic motor control model (proportional-integral-derivative) developed with the biological spike processing principle, including the motor actuation with time enlarged spikes instead of the classic pulse-width-modulation. This closed-loop control model, called spike-based PID controller (sPID), was improved and adapted for a dual FPGA-based system to control the four joints of a bioinspired light robot (BioRob X5), called event-driven BioRob (ED-BioRob). The use of spiking signals allowed the system to achieve a current consumption bellow 1A for the entire 4 DoF working at the same time. Furthermore, the robot joints commands can be received from a population of sili...
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Round-ups are the summaries of handpicked papers around trending topics published every week. These would enable you to scan through a collection of papers and decide if the paper is relevant to you before actually investing time into reading it.
Climate change Research Articles published between Nov 15, 2021 to Nov 21, 2021
Nov 22, 2021
Articles Included: 3
In ‘Climate change adaptation for managing non-timber forest products in the Nepalese Himalaya’, Lila Gurung et al. (2021) noted that non-timber fores...Read More