Chaotic exploration and learning of locomotion behaviours

We present a general and fully dynamic neural system, which exploits intrinsic chaotic dynamics, for the real-time goal-directed exploration and learning of the possible locomotion patterns of an articulated robot of an arbitrary morphology in an unknown environment. The controller is modeled as a network of neural oscillators that are initially coupled only through physical embodiment, and goal-directed exploration of coordinated motor patterns is achieved by chaotic search using adaptive bifurcation. The phase space of the indirectly coupled neural-body-environment system contains multiple transient or permanent self-organized dynamics, each of which is a candidate for a locomotion behavior. The adaptive bifurcation enables the system orbit to wander through various phase-coordinated states, using its intrinsic chaotic dynamics as a driving force, and stabilizes on to one of the states matching the given goal criteria. In order to improve the sustainability of useful transient patterns, sensory homeostasis has been introduced, which results in an increased diversity of motor outputs, thus achieving multiscale exploration. A rhythmic pattern discovered by this process is memorized and sustained by changing the wiring between initially disconnected oscillators using an adaptive synchronization method. Our results show that the novel neurorobotic system is able to create and learn multiple locomotion behaviors for a wide range of body configurations and physical environments and can readapt in realtime after sustaining damage

General Framework for phase synchronization through localized sets

We present an approach which enables to identify phase synchronization in coupled chaotic oscillators without having to explicitly measure the phase. We show that if one defines a typical event in one oscillator and then observes another one whenever this event occurs, these observations give rise to a localized set. Our result provides a general and easy way to identify PS, which can also be used to oscillators that possess multiple time scales. We illustrate our approach in networks of chemically coupled neurons. We show that clusters of phase synchronous neurons may emerge before the onset of phase synchronization in the whole network, producing a suitable environment for information exchanging. Furthermore, we show the relation between the localized sets and the amount of information that coupled chaotic oscillator can exchange

Pinning Complex Networks by a Single Controller

In this paper, without assuming symmetry, irreducibility, or linearity of the couplings, we prove that a single controller can pin a coupled complex network to a homogenous solution. Sufficient conditions are presented to guarantee the convergence of the pinning process locally and globally. An effective approach to adapt the coupling strength is proposed. Several numerical simulations are given to verify our theoretical analysis

Synchronous Behavior of Two Coupled Electronic Neurons

We report on experimental studies of synchronization phenomena in a pair of analog electronic neurons (ENs). The ENs were designed to reproduce the observed membrane voltage oscillations of isolated biological neurons from the stomatogastric ganglion of the California spiny lobster Panulirus interruptus. The ENs are simple analog circuits which integrate four dimensional differential equations representing fast and slow subcellular mechanisms that produce the characteristic regular/chaotic spiking-bursting behavior of these cells. In this paper we study their dynamical behavior as we couple them in the same configurations as we have done for their counterpart biological neurons. The interconnections we use for these neural oscillators are both direct electrical connections and excitatory and inhibitory chemical connections: each realized by analog circuitry and suggested by biological examples. We provide here quantitative evidence that the ENs and the biological neurons behave similarly when coupled in the same manner. They each display well defined bifurcations in their mutual synchronization and regularization. We report briefly on an experiment on coupled biological neurons and four dimensional ENs which provides further ground for testing the validity of our numerical and electronic models of individual neural behavior. Our experiments as a whole present interesting new examples of regularization and synchronization in coupled nonlinear oscillators.Comment: 26 pages, 10 figure

Synchronization of coupled neural oscillators with heterogeneous delays

We investigate the effects of heterogeneous delays in the coupling of two excitable neural systems. Depending upon the coupling strengths and the time delays in the mutual and self-coupling, the compound system exhibits different types of synchronized oscillations of variable period. We analyze this synchronization based on the interplay of the different time delays and support the numerical results by analytical findings. In addition, we elaborate on bursting-like dynamics with two competing timescales on the basis of the autocorrelation function.Comment: 18 pages, 14 figure

Onset of Phase Synchronization in Neurons Conneted via Chemical Synapses

We study the onset of synchronous states in realistic chaotic neurons coupled by mutually inhibitory chemical synapses. For the realistic parameters, namely the synaptic strength and the intrinsic current, this synapse introduces non-coherences in the neuronal dynamics, yet allowing for chaotic phase synchronization in a large range of parameters. As we increase the synaptic strength, the neurons undergo to a periodic state, and no chaotic complete synchronization is found.Comment: to appear in Int. J. Bif. Chao