A novel plasticity rule can explain the development of sensorimotor intelligence

Grounding autonomous behavior in the nervous system is a fundamental challenge for neuroscience. In particular, the self-organized behavioral development provides more questions than answers. Are there special functional units for curiosity, motivation, and creativity? This paper argues that these features can be grounded in synaptic plasticity itself, without requiring any higher level constructs. We propose differential extrinsic plasticity (DEP) as a new synaptic rule for self-learning systems and apply it to a number of complex robotic systems as a test case. Without specifying any purpose or goal, seemingly purposeful and adaptive behavior is developed, displaying a certain level of sensorimotor intelligence. These surprising results require no system specific modifications of the DEP rule but arise rather from the underlying mechanism of spontaneous symmetry breaking due to the tight brain-body-environment coupling. The new synaptic rule is biologically plausible and it would be an interesting target for a neurobiolocal investigation. We also argue that this neuronal mechanism may have been a catalyst in natural evolution.Comment: 18 pages, 5 figures, 7 video

Imprecise dynamic walking with time-projection control

We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions of the 3LP model, our proposed controller projects intermediate states of the biped back to the beginning of the phase for which a discrete LQR controller is designed. After the projection, a proper control policy is generated by this LQR controller and used at the intermediate time. This control paradigm reacts to disturbances immediately and includes rules to account for swing dynamics and leg-retraction. We apply it to a simulated Atlas robot in position-control, always commanded to perform in-place walking. The stance hip joint in our robot keeps the torso upright to let the robot naturally fall, and the swing hip joint tracks the desired footstep location. Combined with simple Center of Pressure (CoP) damping rules in the low-level controller, our foot-placement enables the robot to recover from strong pushes and produce periodic walking gaits when subject to persistent sources of disturbance, externally or internally. These gaits are imprecise, i.e., emergent from asymmetry sources rather than precisely imposing a desired velocity to the robot. Also in extreme conditions, restricting linearity assumptions of the 3LP model are often violated, but the system remains robust in our simulations. An extensive analysis of closed-loop eigenvalues, viable regions and sensitivity to push timings further demonstrate the strengths of our simple controller

Keep Rollin' - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots

We show dynamic locomotion strategies for wheeled quadrupedal robots, which combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the wheels. Our approach relies on a zero-moment point based motion optimization which continuously updates reference trajectories. The reference motions are tracked by a hierarchical whole-body controller which computes optimal generalized accelerations and contact forces by solving a sequence of prioritized tasks including the nonholonomic rolling constraints. Our approach has been tested on ANYmal, a quadrupedal robot that is fully torque-controlled including the non-steerable wheels attached to its legs. We conducted experiments on flat and inclined terrains as well as over steps, whereby we show that integrating the wheels into the motion control and planning framework results in intuitive motion trajectories, which enable more robust and dynamic locomotion compared to other wheeled-legged robots. Moreover, with a speed of 4 m/s and a reduction of the cost of transport by 83 % we prove the superiority of wheeled-legged robots compared to their legged counterparts.Comment: IEEE Robotics and Automation Letter

A direct method for trajectory optimization of rigid bodies through contact

Direct methods for trajectory optimization are widely used for planning locally optimal trajectories of robotic systems. Many critical tasks, such as locomotion and manipulation, often involve impacting the ground or objects in the environment. Most state-of-the-art techniques treat the discontinuous dynamics that result from impacts as discrete modes and restrict the search for a complete path to a specified sequence through these modes. Here we present a novel method for trajectory planning of rigid-body systems that contact their environment through inelastic impacts and Coulomb friction. This method eliminates the requirement for a priori mode ordering. Motivated by the formulation of multi-contact dynamics as a Linear Complementarity Problem for forward simulation, the proposed algorithm poses the optimization problem as a Mathematical Program with Complementarity Constraints. We leverage Sequential Quadratic Programming to naturally resolve contact constraint forces while simultaneously optimizing a trajectory that satisfies the complementarity constraints. The method scales well to high-dimensional systems with large numbers of possible modes. We demonstrate the approach on four increasingly complex systems: rotating a pinned object with a finger, simple grasping and manipulation, planar walking with the Spring Flamingo robot, and high-speed bipedal running on the FastRunner platform.United States. Defense Advanced Research Projects Agency. Maximum Mobility and Manipulation Program (Grant W91CRB-11-1-0001)National Science Foundation (U.S.) (Grant IIS-0746194)National Science Foundation (U.S.) (Grant IIS-1161909)National Science Foundation (U.S.) (Grant IIS-0915148

Regular and stochastic behavior of Parkinsonian pathological tremor signals

Regular and stochastic behavior in the time series of Parkinsonian pathological tremor velocity is studied on the basis of the statistical theory of discrete non-Markov stochastic processes and flicker-noise spectroscopy. We have developed a new method of analyzing and diagnosing Parkinson's disease (PD) by taking into consideration discreteness, fluctuations, long- and short-range correlations, regular and stochastic behavior, Markov and non-Markov effects and dynamic alternation of relaxation modes in the initial time signals. The spectrum of the statistical non-Markovity parameter reflects Markovity and non-Markovity in the initial time series of tremor. The relaxation and kinetic parameters used in the method allow us to estimate the relaxation scales of diverse scenarios of the time signals produced by the patient in various dynamic states. The local time behavior of the initial time correlation function and the first point of the non-Markovity parameter give detailed information about the variation of pathological tremor in the local regions of the time series. The obtained results can be used to find the most effective method of reducing or suppressing pathological tremor in each individual case of a PD patient. Generally, the method allows one to assess the efficacy of the medical treatment for a group of PD patients.Comment: 39 pages, 10 figures, 1 table Physica A, in pres

Noise-induced synchronization and anti-resonance in excitable systems; Implications for information processing in Parkinson's Disease and Deep Brain Stimulation

We study the statistical physics of a surprising phenomenon arising in large networks of excitable elements in response to noise: while at low noise, solutions remain in the vicinity of the resting state and large-noise solutions show asynchronous activity, the network displays orderly, perfectly synchronized periodic responses at intermediate level of noise. We show that this phenomenon is fundamentally stochastic and collective in nature. Indeed, for noise and coupling within specific ranges, an asymmetry in the transition rates between a resting and an excited regime progressively builds up, leading to an increase in the fraction of excited neurons eventually triggering a chain reaction associated with a macroscopic synchronized excursion and a collective return to rest where this process starts afresh, thus yielding the observed periodic synchronized oscillations. We further uncover a novel anti-resonance phenomenon: noise-induced synchronized oscillations disappear when the system is driven by periodic stimulation with frequency within a specific range. In that anti-resonance regime, the system is optimal for measures of information capacity. This observation provides a new hypothesis accounting for the efficiency of Deep Brain Stimulation therapies in Parkinson's disease, a neurodegenerative disease characterized by an increased synchronization of brain motor circuits. We further discuss the universality of these phenomena in the class of stochastic networks of excitable elements with confining coupling, and illustrate this universality by analyzing various classical models of neuronal networks. Altogether, these results uncover some universal mechanisms supporting a regularizing impact of noise in excitable systems, reveal a novel anti-resonance phenomenon in these systems, and propose a new hypothesis for the efficiency of high-frequency stimulation in Parkinson's disease

Supplementing Frequency Domain Interpolation Methods for Character Animation

The animation of human characters entails difficulties exceeding those met simulating objects, machines or plants. A person's gait is a product of nature affected by mood and physical condition. Small deviations from natural movement are perceived with ease by an unforgiving audience. Motion capture technology is frequently employed to record human movement. Subsequent playback on a skeleton underlying the character being animated conveys many of the subtleties of the original motion. Played-back recordings are of limited value, however, when integration in a virtual environment requires movements beyond those in the motion library, creating a need for the synthesis of new motion from pre-recorded sequences. An existing approach involves interpolation between motions in the frequency domain, with a blending space defined by a triangle network whose vertices represent input motions. It is this branch of character animation which is supplemented by the methods presented in this thesis, with work undertaken in three distinct areas. The first is a streamlined approach to previous work. It provides benefits including an efficiency gain in certain contexts, and a very different perspective on triangle network construction in which they become adjustable and intuitive user-interface devices with an increased flexibility allowing a greater range of motions to be blended than was possible with previous networks. Interpolation-based synthesis can never exhibit the same motion variety as can animation methods based on the playback of rearranged frame sequences. Limitations such as this were addressed by the second phase of work, with the creation of hybrid networks. These novel structures use properties of frequency domain triangle blending networks to seamlessly integrate playback-based animation within them. The third area focussed on was distortion found in both frequency- and time-domain blending. A new technique, single-source harmonic switching, was devised which greatly reduces it, and adds to the benefits of blending in the frequency domain