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首页> 外文期刊>Frontiers in Neurorobotics >Connecting Artificial Brains to Robots in a Comprehensive Simulation Framework: The Neurorobotics Platform
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Connecting Artificial Brains to Robots in a Comprehensive Simulation Framework: The Neurorobotics Platform

机译：在全面的模拟框架中将人工大脑连接到机器人：Neurorobotics平台

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Combined efforts in the fields of neuroscience, computer science, and biology allowed to design biologically realistic models of the brain based on spiking neural networks. For a proper validation of these models, an embodiment in a dynamic and rich sensory environment, where the model is exposed to a realistic sensory-motor task, is needed. Due to the complexity of these brain models that, at the current stage, cannot deal with real-time constraints, it is not possible to embed them into a real-world task. Rather, the embodiment has to be simulated as well. While adequate tools exist to simulate either complex neural networks or robots and their environments, there is so far no tool that allows to easily establish a communication between brain and body models. The Neurorobotics Platform is a new web-based environment that aims to fill this gap by offering scientists and technology developers a software infrastructure allowing them to connect brain models to detailed simulations of robot bodies and environments and to use the resulting neurorobotic systems for in silico experimentation. In order to simplify the workflow and reduce the level of the required programming skills, the platform provides editors for the specification of experimental sequences and conditions, environments, robots, and brain–body connectors. In addition to that, a variety of existing robots and environments are provided. This work presents the architecture of the first release of the Neurorobotics Platform developed in subproject 10 “Neurorobotics” of the Human Brain Project (HBP).1 At the current state, the Neurorobotics Platform allows researchers to design and run basic experiments in neurorobotics using simulated robots and simulated environments linked to simplified versions of brain models. We illustrate the capabilities of the platform with three example experiments: a Braitenberg task implemented on a mobile robot, a sensory-motor learning task based on a robotic controller, and a visual tracking embedding a retina model on the iCub humanoid robot. These use-cases allow to assess the applicability of the Neurorobotics Platform for robotic tasks as well as in neuroscientific experiments.
机译：在神经科学，计算机科学和生物学领域的共同努力允许基于尖峰神经网络设计大脑的生物学现实模型。为了适当验证这些模型，需要在动态且丰富的感官环境中的实施例，其中该模型暴露于现实的感官运动任务。由于这些大脑模型的复杂性，目前尚无法处理实时约束，因此无法将它们嵌入到现实世界的任务中。相反，实施例也必须被模拟。尽管存在足够的工具来模拟复杂的神经网络或机器人及其环境，但到目前为止，还没有工具可以轻松地建立大脑与身体模型之间的通信。 Neurorobotics平台是一个新的基于Web的环境，旨在通过为科学家和技术开发人员提供软件基础架构来填补这一空白，使他们能够将大脑模型与机器人身体和环境的详细模拟连接起来，并将所得的神经机器人系统用于计算机模拟实验。为了简化工作流程并降低所需编程技能的水平，该平台提供了编辑器，用于规范实验顺序和条件，环境，机器人和脑机连接器。除此之外，还提供了各种现有的机器人和环境。这项工作介绍了在人类大脑计划（HBP）的子项目10“ Neurorobotics”中开发的Neurorobotics Platform的第一个发行版的架构。1在当前状态下，Neurorobotics Platform允许研究人员使用模拟方法设计和运行Neurorobotics的基础实验机器人和模拟环境链接到简化的脑模型模型。我们通过三个示例实验来说明该平台的功能：在移动机器人上实现的Braitenberg任务，基于机器人控制器的感觉运动学习任务以及在iCub人形机器人上嵌入视网膜模型的视觉跟踪。这些用例可以评估Neurorobotics平台在机器人任务以及神经科学实验中的适用性。

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