An Astrocyte-Modulated Neuromorphic Central Pattern Generator for Hexapod Robot Locomotion on Intel's Loihi

Ioannis Polykretis, Guangzhi Tang, Konstantinos P. Michmizos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

Locomotion is a crucial challenge for legged robots that is addressed "effortlessly"by biological networks abundant in nature, named central pattern generators (CPG). The multitude of CPG network models that have so far become biomimetic robotic controllers is not applicable to the emerging neuromorphic hardware, depriving mobile robots of a robust walking mechanism that would result in inherently energy-efficient systems. Here, we propose a brain-morphic CPG controler based on a comprehensive spiking neural-astrocytic network that generates two gait patterns for a hexapod robot. Building on the recently identified astrocytic mechanisms for neuromodulation, our proposed CPG architecture is seamlessly integrated into Intel's Loihi neuromorphic chip by leveraging a real-time interaction framework between the chip and the robotic operating system (ROS) environment, that we also propose. Here, we demonstrate that a Loihi-run CPG can be used to control a walking robot with robustness to sensory noise and varying speed profiles. Our results pave the way for scaling this and other approaches towards Loihi-controlled locomotion in autonomous mobile robots.

Original languageEnglish (US)
Title of host publicationICONS 2020 - Proceedings of International Conference on Neuromorphic Systems 2020
PublisherAssociation for Computing Machinery
ISBN (Electronic)9781450388511
DOIs
StatePublished - Jul 28 2020
Event2020 International Conference on Neuromorphic Systems, ICONS 2020 - Virtual, Online, United States
Duration: Jul 28 2020Jul 30 2020

Publication series

NameACM International Conference Proceeding Series

Conference

Conference2020 International Conference on Neuromorphic Systems, ICONS 2020
CountryUnited States
CityVirtual, Online
Period7/28/207/30/20

All Science Journal Classification (ASJC) codes

  • Software
  • Human-Computer Interaction
  • Computer Vision and Pattern Recognition
  • Computer Networks and Communications

Keywords

  • Astrocytes
  • Central Pattern Generators
  • Hexapod robot
  • Locomotion
  • Loihi
  • Neuromorphic Controller

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