IDEAS home Printed from https://ideas.repec.org/a/igg/jcini0/v13y2019i1p1-12.html
   My bibliography  Save this article

Combining Motor Primitives for Perception Driven Target Reaching With Spiking Neurons

Author

Listed:
  • J. Camilo Vasquez Tieck

    (FZI Research Center for Information Technology, Karlsruhe, Germany)

  • Lea Steffen

    (FZI Research Center for Information Technology, Karlsruhe, Germany)

  • Jacques Kaiser

    (FZI Research Center for Information Technology, Karlsruhe, Germany)

  • Daniel Reichard

    (FZI Research Center for Information Technology, Karlsruhe, Germany)

  • Arne Roennau

    (FZI Research Center for Information Technology, Karlsruhe, Germany)

  • Ruediger Dillmann

    (FZI Research Center for Information Technology, Karlsruhe, Germany)

Abstract

Target reaching is one of the most important areas in robotics, object interaction, manipulation and grasping tasks require reaching specific targets. The authors avoid the complexity of calculating the inverse kinematics and doing motion planning, and instead use a combination of motor primitives. A bio-inspired architecture performs target reaching with a robot arm without planning. A spiking neural network represents motions in a hierarchy of motor primitives, and different correction primitives are combined using an error signal. In this article two experiments using a simulation of a robot arm are presented, one to extensively cover the working space by going to different points and returning to the start point, the other to test extreme targets and random points in sequence. Robotics applications—like target reaching—can provide benchmarking tasks and realistic scenarios for validation of neuroscience models, and also take advantage of the capabilities of spiking neural networks and the properties of neuromorphic hardware to run the models.

Suggested Citation

  • J. Camilo Vasquez Tieck & Lea Steffen & Jacques Kaiser & Daniel Reichard & Arne Roennau & Ruediger Dillmann, 2019. "Combining Motor Primitives for Perception Driven Target Reaching With Spiking Neurons," International Journal of Cognitive Informatics and Natural Intelligence (IJCINI), IGI Global, vol. 13(1), pages 1-12, January.
  • Handle: RePEc:igg:jcini0:v:13:y:2019:i:1:p:1-12
    as

    Download full text from publisher

    File URL: http://services.igi-global.com/resolvedoi/resolve.aspx?doi=10.4018/IJCINI.2019010101
    Download Restriction: no
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:igg:jcini0:v:13:y:2019:i:1:p:1-12. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Journal Editor (email available below). General contact details of provider: https://www.igi-global.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.