NDLI: Training a spiking neural network to control a 4-DoF robotic arm based on Spike Timing-Dependent Plasticity

Content Provider	IEEE Xplore Digital Library
Author	Bouganis, A. Shanahan, M.
Copyright Year	2010
Description	Author affiliation: Department of Computing, Imperial College London, UK (Bouganis, A.; Shanahan, M.)
Abstract	In this paper, we present a spiking neural network architecture that autonomously learns to control a 4 degree-of-freedom robotic arm after an initial period of motor babbling. Its aim is to provide the joint commands that will move the end-effector in a desired spatial direction, given the joint configuration of the arm. The spiking neurons have been simulated according to Izhikevich's model, which exhibits biologically realistic behaviour and yet is computationally efficient. The architecture is a feed-forward network where the input layers encode the intended movement direction of the end-effector in spatial coordinates, as well as the information that is given by proprioception about the current joint angles of the arm. The motor commands are determined by decoding the firing patterns in the output layers. Both excitatory and inhibitory synapses connect the input and output layers, and their initial weights are set to random values. The network learns to map input stimuli to motor commands during a phase of repetitive action-perception cycles, in which Spike Timing-Dependent Plasticity (STDP) strengthens synapses between neurons that are correlated and weakens synapses between uncorrelated ones. The trained spiking neural network has been successfully tested on a kinematic model of the arm of an iCub humanoid robot.
Starting Page	1
Ending Page	8
File Size	919792
Page Count	8
File Format	PDF
ISBN	9781424469161
ISSN	10987576
e-ISBN	9781424469185
DOI	10.1109/IJCNN.2010.5596525
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-07-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Neurons Joints Mathematical model Biological system modeling Computational modeling Robots Artificial neural networks
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Mr. Siddhartha Mukherjee siddhartha@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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