The control of walking movements in the leg of the rock lobster

Cruse H, Clarac F, Chasserat C. The control of walking movements in the leg of the rock lobster. Biological Cybernetics. 1983;47(2):87-94

Biological Cybernetics: 60 years and more to come

Projekt DEALPeer Reviewe

Short-term plasticity as cause-effect hypothesis testing in distal reward learning

Asynchrony, overlaps and delays in sensory-motor signals introduce ambiguity as to which stimuli, actions, and rewards are causally related. Only the repetition of reward episodes helps distinguish true cause-effect relationships from coincidental occurrences. In the model proposed here, a novel plasticity rule employs short and long-term changes to evaluate hypotheses on cause-effect relationships. Transient weights represent hypotheses that are consolidated in long-term memory only when they consistently predict or cause future rewards. The main objective of the model is to preserve existing network topologies when learning with ambiguous information flows. Learning is also improved by biasing the exploration of the stimulus-response space towards actions that in the past occurred before rewards. The model indicates under which conditions beliefs can be consolidated in long-term memory, it suggests a solution to the plasticity-stability dilemma, and proposes an interpretation of the role of short-term plasticity.Comment: Biological Cybernetics, September 201

Neuro-mechanical entrainment in a bipedal robotic walking platform

In this study, we investigated the use of van der Pol oscillators in a 4-dof embodied bipedal robotic platform for the purposes of planar walking. The oscillator controlled the hip and knee joints of the robot and was capable of generating waveforms with the correct frequency and phase so as to entrain with the mechanical system. Lowering its oscillation frequency resulted in an increase to the walking pace, indicating exploitation of the global natural dynamics. This is verified by its operation in absence of entrainment, where faster limb motion results in a slower overall walking pace

Bumps and rings in a two-dimensional neural field: splitting and rotational instabilities

In this paper we consider instabilities of localised solutions in planar neural field firing rate models of Wilson-Cowan or Amari type. Importantly we show that angular perturbations can destabilise spatially localised solutions. For a scalar model with Heaviside firing rate function we calculate symmetric one-bump and ring solutions explicitly and use an Evans function approach to predict the point of instability and the shapes of the dominant growing modes. Our predictions are shown to be in excellent agreement with direct numerical simulations. Moreover, beyond the instability our simulations demonstrate the emergence of multi-bump and labyrinthine patterns. With the addition of spike-frequency adaptation, numerical simulations of the resulting vector model show that it is possible for structures without rotational symmetry, and in particular multi-bumps, to undergo an instability to a rotating wave. We use a general argument, valid for smooth firing rate functions, to establish the conditions necessary to generate such a rotational instability. Numerical continuation of the rotating wave is used to quantify the emergent angular velocity as a bifurcation parameter is varied. Wave stability is found via the numerical evaluation of an associated eigenvalue problem

Neuro-mechanical entrainment in a bipedal robotic walking platform

In this study, we investigated the use of van der Pol oscillators in a 4-dof embodied bipedal robotic platform for the purposes of planar walking. The oscillator controlled the hip and knee joints of the robot and was capable of generating waveforms with the correct frequency and phase so as to entrain with the mechanical system. Lowering its oscillation frequency resulted in an increase to the walking pace, indicating exploitation of the global natural dynamics. This is verified by its operation in absence of entrainment, where faster limb motion results in a slower overall walking pace

Signal detection in extracellular neural ensemble recordings using higher criticism

Information processing in the brain is conducted by a concerted action of multiple neural populations. Gaining insights in the organization and dynamics of such populations can best be studied with broadband intracranial recordings of so-called extracellular field potential, reflecting neuronal spiking as well as mesoscopic activities, such as waves, oscillations, intrinsic large deflections, and multiunit spiking activity. Such signals are critical for our understanding of how neuronal ensembles encode sensory information and how such information is integrated in the large networks underlying cognition. The aforementioned principles are now well accepted, yet the efficacy of extracting information out of the complex neural data, and their employment for improving our understanding of neural networks, critically depends on the mathematical processing steps ranging from simple detection of action potentials in noisy traces - to fitting advanced mathematical models to distinct patterns of the neural signal potentially underlying intra-processing of information, e.g. interneuronal interactions. Here, we present a robust strategy for detecting signals in broadband and noisy time series such as spikes, sharp waves and multi-unit activity data that is solely based on the intrinsic statistical distribution of the recorded data. By using so-called higher criticism - a second-level significance testing procedure comparing the fraction of observed significances to an expected fraction under the global null - we are able to detect small signals in correlated noisy time-series without prior filtering, denoising or data regression. Results demonstrate the efficiency and reliability of the method and versatility over a wide range of experimental conditions and suggest the appropriateness of higher criticism to characterize neuronal dynamics without prior manipulation of the data

Developmental acquisition of entrainment skills in robot swinging using van der Pol oscillators

In this study we investigated the effects of different morphological configurations on a robot swinging task using van der Pol oscillators. The task was examined using two separate degrees of freedom (DoF), both in the presence and absence of neural entrainment. Neural entrainment stabilises the system, reduces time-to-steady state and relaxes the requirement for a strong coupling with the environment in order to achieve mechanical entrainment. It was found that staged release of the distal DoF does not have any benefits over using both DoF from the onset of the experimentation. On the contrary, it is less efficient, both with respect to the time needed to reach a stable oscillatory regime and the maximum amplitude it can achieve. The same neural architecture is successful in achieving neuromechanical entrainment for a robotic walking task