Abstract
Ikaros is an open framework for system-level brain modeling and real-time robot control. Version 2 of the system includes a range of computational components that implements various algorithms and methods ranging from models of neural circuits to control systems and hardware interfaces for robot. Ikaros supports the design and implementation of large-scale computation models using a flow programming paradigm. Version 2 includes a number of new features that support complex networks of hierarchically arranged components as well as a web-based interactive editor. More than 100 persons have contributed to the code base and over 100 scientific publications report on work that has used Ikaros for simulations or robot control.
Highlights
Ikaros is an open infrastructure for system-level brain modeling and robot control
More than 100 persons have contributed to the code base and over 100 scientific publications report on work that has used Ikaros for simulations or robot control
Ikaros 2 constitutes a large step forward compared to earlier versions
Summary
Ikaros is an open infrastructure for system-level brain modeling and robot control. The project started already in 2001 and has been running continuously since . Ikaros supports modeling of a broad category of biological, neural, and brain systems, but it was primarily designed to facilitate real-time cognitive control of robot systems. There is presently available a wide selection of frameworks for off-line modeling tools focusing on everything from single cells, to neural populations on the one hand, to statistical models using deep networks on the other Like these systems, Ikaros can be used to train neural networks and perform off-line modeling, but it is somewhat unique in that it is built from the ground up to support low latency processing and enable realistic response times in various physical robot systems. Ikaros primarily targeted Linux systems, the framework was developed in parallel for Linux, Mac OS, and Windows This turned out a good idea because it made any platform-specific solutions harder to use and as a consequence, Ikaros does not depend on any peculiarities in either operating system. The rest of this article describes the different components of the framework and their current features
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