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STDP-based behavior learning on TriBot robot

机译：TriBot机器人上基于STDP的行为学习

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摘要

This paper describes a correlation-based navigation algorithm, based on an unsupervised learning paradigm for spiking neural networks, called Spike Timing Dependent Plasticity (STDP). This algorithm was implemented on a new bio-inspired hybrid mini-robot called TriBot to learn and increase its behavioral capabilities. In fact correlation based algorithms have been found to explain many basic behaviors in simple animals. The main interesting consequence of STDP is that the system is able to learn high-level sensor features, based on a set of basic reflexes, depending on some low-level sensor inputs. TriBot is composed of 3 modules, the first two being identical and inspired by the Whegs hybrid robot. The peculiar characteristics of the robot consists in the innovative shape of the three-spoke appendages that allow to increase stability of the structure. The last module is composed of two standard legs with 3 degrees of freedom each. Thanks to the cooperation among these modules, TriBot is able to face with irregular terrains overcoming potential deadlock situations, to climb high obstacles compared to its size and to manipulate objects. Robot experiments will be reported to demonstrate the potentiality and the effectiveness of the approach.
机译：本文介绍了一种基于相关性的导航算法，该算法基于用于尖峰神经网络的无监督学习范式，称为尖峰时序相关可塑性（STDP）。该算法在名为TriBot的新型生物启发式混合微型机器人上实现，以学习并增强其行为能力。实际上，已经发现基于相关性的算法可以解释简单动物中的许多基本行为。 STDP的主要有趣结果是，该系统能够根据一组基本反射（取决于一些低级传感器的输入）来学习高级传感器的功能。 TriBot由3个模块组成，前两个模块相同，并受到Whegs混合动力机器人的启发。机器人的独特特征在于三辐条附件的创新形状，可增加结构的稳定性。最后一个模块由两个具有3个自由度的标准支脚组成。由于这些模块之间的合作，TriBot能够克服不规则的地形来克服潜在的死锁情况，与其尺寸相比可以爬高障碍物并可以操纵物体。将报告机器人实验，以证明该方法的潜力和有效性。

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  • 来源
    《Bioengineered and bioinspired systems IV》|2009年|736506.1-736506.11|共11页
  • 会议地点 Dresden(DE)
  • 作者

    P. Arena; S. De Fiore; L. Patane; M. Pollino; C. Ventura;

  • 作者单位

    Dipartimento di Ingegneria Elettrica, Elettronica e dei Sistemi, Universita degli Studi di Catania, Viale A. Doria 6, 95125 Catania, Italy;

    Dipartimento di Ingegneria Elettrica, Elettronica e dei Sistemi, Universita degli Studi di Catania, Viale A. Doria 6, 95125 Catania, Italy;

    Dipartimento di Ingegneria Elettrica, Elettronica e dei Sistemi, Universita degli Studi di Catania, Viale A. Doria 6, 95125 Catania, Italy;

    Dipartimento di Ingegneria Elettrica, Elettronica e dei Sistemi, Universita degli Studi di Catania, Viale A. Doria 6, 95125 Catania, Italy;

    Dipartimento di Ingegneria Elettrica, Elettronica e dei Sistemi, Universita degli Studi di Catania, Viale A. Doria 6, 95125 Catania, Italy;

  • 会议组织
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 生物工程学（生物技术）;
  • 关键词

    STDP; hybrid robot; visual cue-based navigation; spiking neurons;

    机译：STDP；混合机器人基于视觉提示的导航；尖刺神经元;
  • 入库时间 2022-08-26 14:30:56

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