Evolution of central pattern generators for the control of a five-link bipedal walking mechanism

Central pattern generators (CPGs), with a basis is neurophysiological studies, are a type of neural network for the generation of rhythmic motion. While CPGs are being increasingly used in robot control, most applications are hand-tuned for a specific task and it is acknowledged in the field that generic methods and design principles for creating individual networks for a given task are lacking. This study presents an approach where the connectivity and oscillatory parameters of a CPG network are determined by an evolutionary algorithm with fitness evaluations in a realistic simulation with accurate physics. We apply this technique to a five-link planar walking mechanism to demonstrate its feasibility and performance. In addition, to see whether results from simulation can be acceptably transferred to real robot hardware, the best evolved CPG network is also tested on a real mechanism. Our results also confirm that the biologically inspired CPG model is well suited for legged locomotion, since a diverse manifestation of networks have been observed to succeed in fitness simulations during evolution.Comment: 11 pages, 9 figures; substantial revision of content, organization, and quantitative result

Adaptive, fast walking in a biped robot under neuronal control and learning

Human walking is a dynamic, partly self-stabilizing process relying on the interaction of the biomechanical design with its neuronal control. The coordination of this process is a very difficult problem, and it has been suggested that it involves a hierarchy of levels, where the lower ones, e.g., interactions between muscles and the spinal cord, are largely autonomous, and where higher level control (e.g., cortical) arises only pointwise, as needed. This requires an architecture of several nested, sensori–motor loops where the walking process provides feedback signals to the walker's sensory systems, which can be used to coordinate its movements. To complicate the situation, at a maximal walking speed of more than four leg-lengths per second, the cycle period available to coordinate all these loops is rather short. In this study we present a planar biped robot, which uses the design principle of nested loops to combine the self-stabilizing properties of its biomechanical design with several levels of neuronal control. Specifically, we show how to adapt control by including online learning mechanisms based on simulated synaptic plasticity. This robot can walk with a high speed (> 3.0 leg length/s), self-adapting to minor disturbances, and reacting in a robust way to abruptly induced gait changes. At the same time, it can learn walking on different terrains, requiring only few learning experiences. This study shows that the tight coupling of physical with neuronal control, guided by sensory feedback from the walking pattern itself, combined with synaptic learning may be a way forward to better understand and solve coordination problems in other complex motor tasks

Benchmarking Cerebellar Control

Cerebellar models have long been advocated as viable models for robot dynamics control. Building on an increasing insight in and knowledge of the biological cerebellum, many models have been greatly refined, of which some computational models have emerged with useful properties with respect to robot dynamics control. Looking at the application side, however, there is a totally different picture. Not only is there not one robot on the market which uses anything remotely connected with cerebellar control, but even in research labs most testbeds for cerebellar models are restricted to toy problems. Such applications hardly ever exceed the complexity of a 2 DoF simulated robot arm; a task which is hardly representative for the field of robotics, or relates to realistic applications. In order to bring the amalgamation of the two fields forwards, we advocate the use of a set of robotics benchmarks, on which existing and new computational cerebellar models can be comparatively tested. It is clear that the traditional approach to solve robotics dynamics loses ground with the advancing complexity of robotic structures; there is a desire for adaptive methods which can compete as traditional control methods do for traditional robots. In this paper we try to lay down the successes and problems in the fields of cerebellar modelling as well as robot dynamics control. By analyzing the common ground, a set of benchmarks is suggested which may serve as typical robot applications for cerebellar models

Performance and storage requirements of topology-conserving maps for robot manipulator control

A new programming paradigm for the control of a robot manipulator by learning the mapping between the Cartesian space and the joint space (inverse Kinematic) is discussed. It is based on a Neural Network model of optimal mapping between two high-dimensional spaces by Kohonen. This paper describes the approach and presents the optimal mapping, based on the principle of maximal information gain. It is shown that Kohonens mapping in the 2-dimensional case is optimal in this sense. Furthermore, the principal control error made by the learned mapping is evaluated for the example of the commonly used PUMA robot, the trade-off between storage resources and positional error is discussed and an optimal position encoding resolution is proposed

Occasional essay: upper motor neuron syndrome in amyotrophic lateral sclerosis

The diagnosis of amyotrophic lateral sclerosis (ALS) requires recognition of both lower (LMN) and upper motor neuron (UMN) dysfunction.1 However, classical UMN signs are frequently difficult to identify in ALS.2 LMN involvement is sensitively detected by electromyography (EMG)3 but, as yet, there are no generally accepted markers for monitoring UMN abnormalities,4 the neurobiology of ALS itself, and disease spread through the brain and spinal cord,.5 Full clinical assessment is therefore necessary to exclude other diagnoses and to monitor disease progression. In part, this difficulty regarding detection of UMN involvement in ALS derives from the definition of ‘the UMN syndrome’. Abnormalities of motor control in ALS require reformulation within an expanded concept of the UMN, together with the neuropathological, neuro-imaging and neurophysiological abnormalities in ALS. We review these issues here

Carbon dioxide and fruit odor transduction in Drosophila olfactory neurons. What controls their dynamic properties?

We measured frequency response functions between odorants and action potentials in two types of neurons in Drosophila antennal basiconic sensilla. CO2 was used to stimulate ab1C neurons, and the fruit odor ethyl butyrate was used to stimulate ab3A neurons. We also measured frequency response functions for light-induced action potential responses from transgenic flies expressing H134R-channelrhodopsin-2 (ChR2) in the ab1C and ab3A neurons. Frequency response functions for all stimulation methods were well-fitted by a band-pass filter function with two time constants that determined the lower and upper frequency limits of the response. Low frequency time constants were the same in each type of neuron, independent of stimulus method, but varied between neuron types. High frequency time constants were significantly slower with ethyl butyrate stimulation than light or CO2 stimulation. In spite of these quantitative differences, there were strong similarities in the form and frequency ranges of all responses. Since light-activated ChR2 depolarizes neurons directly, rather than through a chemoreceptor mechanism, these data suggest that low frequency dynamic properties of Drosophila olfactory sensilla are dominated by neuron-specific ionic processes during action potential production. In contrast, high frequency dynamics are limited by processes associated with earlier steps in odor transduction, and CO2 is detected more rapidly than fruit odor

AER Auditory Filtering and CPG for Robot Control

Address-Event-Representation (AER) is a communication protocol for transferring asynchronous events between VLSI chips, originally developed for bio-inspired processing systems (for example, image processing). The event information in an AER system is transferred using a highspeed digital parallel bus. This paper presents an experiment using AER for sensing, processing and finally actuating a Robot. The AER output of a silicon cochlea is processed by an AER filter implemented on a FPGA to produce rhythmic walking in a humanoid robot (Redbot). We have implemented both the AER rhythm detector and the Central Pattern Generator (CPG) on a Spartan II FPGA which is part of a USB-AER platform developed by some of the authors.Commission of the European Communities IST-2001-34124 (CAVIAR)Comisión Interministerial de Ciencia y Tecnología TIC-2003-08164-C03-0

Neural Network Aided Glitch-Burst Discrimination and Glitch Classification

We investigate the potential of neural-network based classifiers for discriminating gravitational wave bursts (GWBs) of a given canonical family (e.g. core-collapse supernova waveforms) from typical transient instrumental artifacts (glitches), in the data of a single detector. The further classification of glitches into typical sets is explored.In order to provide a proof of concept,we use the core-collapse supernova waveform catalog produced by H. Dimmelmeier and co-Workers, and the data base of glitches observed in laser interferometer gravitational wave observatory (LIGO) data maintained by P. Saulson and co-Workers to construct datasets of (windowed) transient waveforms (glitches and bursts) in additive (Gaussian and compound-Gaussian) noise with different signal-tonoise ratios (SNR). Principal component analysis (PCA) is next implemented for reducing data dimensionality, yielding results consistent with, and extending those in the literature. Then, a multilayer perceptron is trained by a backpropagation algorithm (MLP-BP) on a data subset, and used to classify the transients as glitch or burst. A Self-Organizing Map (SOM) architecture is finally used to classify the glitches. The glitch/burst discrimination and glitch classification abilities are gauged in terms of the related truth tables. Preliminary results suggest that the approach is effective and robust throughout the SNR range of practical interest. Perspective applications pertain both to distributed (network, multisensor) detection of GWBs, where someintelligenceat the single node level can be introduced, and instrument diagnostics/optimization, where spurious transients can be identified, classified and hopefully traced back to their entry point

Evolvability signatures of generative encodings: beyond standard performance benchmarks

Evolutionary robotics is a promising approach to autonomously synthesize machines with abilities that resemble those of animals, but the field suffers from a lack of strong foundations. In particular, evolutionary systems are currently assessed solely by the fitness score their evolved artifacts can achieve for a specific task, whereas such fitness-based comparisons provide limited insights about how the same system would evaluate on different tasks, and its adaptive capabilities to respond to changes in fitness (e.g., from damages to the machine, or in new situations). To counter these limitations, we introduce the concept of "evolvability signatures", which picture the post-mutation statistical distribution of both behavior diversity (how different are the robot behaviors after a mutation?) and fitness values (how different is the fitness after a mutation?). We tested the relevance of this concept by evolving controllers for hexapod robot locomotion using five different genotype-to-phenotype mappings (direct encoding, generative encoding of open-loop and closed-loop central pattern generators, generative encoding of neural networks, and single-unit pattern generators (SUPG)). We observed a predictive relationship between the evolvability signature of each encoding and the number of generations required by hexapods to adapt from incurred damages. Our study also reveals that, across the five investigated encodings, the SUPG scheme achieved the best evolvability signature, and was always foremost in recovering an effective gait following robot damages. Overall, our evolvability signatures neatly complement existing task-performance benchmarks, and pave the way for stronger foundations for research in evolutionary robotics.Comment: 24 pages with 12 figures in the main text, and 4 supplementary figures. Accepted at Information Sciences journal (in press). Supplemental videos are available online at, see http://goo.gl/uyY1R