All Outputs (50)

Ring attractors as the basis of a biomimetic navigation system (2023)
Journal Article

The ability to navigate effectively in a rich and complex world is crucial for the survival of all animals. Specialist neural structures have evolved that are implicated in facilitating this ability, one such structure being the ring attractor networ... Read More about Ring attractors as the basis of a biomimetic navigation system.

Feeling the pressure: The influence of vibrotactile patterns on feedback perception (2022)
Presentation / Conference Contribution

Tactile feedback is necessary for closing the sen-sorimotor loop in prosthetic and tele-operable control, which would allow for more precise manipulation and increased acceptance of use of such devices. Pressure stimuli are commonly presented to user... Read More about Feeling the pressure: The influence of vibrotactile patterns on feedback perception.

Integrating spiking neural networks and deep learning algorithms on the neurorobotics platform (2022)
Presentation / Conference Contribution

We present a neurorobotic model that can associate self motion (odometry) with vision to correct for drift in a spiking neural network model of head direction based closely on known rodent neurophys-iology. We use a deep predictive coding network to... Read More about Integrating spiking neural networks and deep learning algorithms on the neurorobotics platform.

A spiking neural network model of rodent head direction calibrated with landmark free learning (2022)
Journal Article

Maintaining a stable estimate of head direction requires both self-motion (idiothetic) information and environmental (allothetic) anchoring. In unfamiliar or dark environments idiothetic drive can maintain a rough estimate of heading but is subject t... Read More about A spiking neural network model of rodent head direction calibrated with landmark free learning.

Evaluating multi-channel vibrational feedback arrays in a digit discrimination task (2022)
Presentation / Conference Contribution

In recent years manipulators and grippers have become more advanced., allowing for more nuanced interactions with the environment. In order to take advantage of the benefits that this can provide in teleoperation., methods for providing closed-loop t... Read More about Evaluating multi-channel vibrational feedback arrays in a digit discrimination task.

Multimodal Representation Learning for Place Recognition Using Deep Hebbian Predictive Coding (2021)
Journal Article

Recognising familiar places is a competence required in many engineering applications that interact with the real world such as robot navigation. Combining information from different sensory sources promotes robustness and accuracy of place recogniti... Read More about Multimodal Representation Learning for Place Recognition Using Deep Hebbian Predictive Coding.

WhiskEye: A biomimetic model of multisensory spatial memory based on sensory reconstruction (2021)
Presentation / Conference Contribution

We present WhiskEye, a visual tactile robot supporting a neurorobotic investigation of spatial memory as a multisensory reconstructive process. This article outlines the motivation for building WhiskEye; the technical details of the physical robot, a... Read More about WhiskEye: A biomimetic model of multisensory spatial memory based on sensory reconstruction.

Active whisker placement and exploration for rapid object recognition (2020)
Presentation / Conference Contribution

© 2019 IEEE. Identifying objects using sparse tactile sensor arrays requires movement across the surface and the integration of sensory information to support hypotheses. In this study we demonstrate a surface placement control strategy to orient and... Read More about Active whisker placement and exploration for rapid object recognition.

Fast, flexible closed-loop feedback: Tracking movement in “real-millisecond-time” (2019)
Journal Article

© 2019 Sehara et al. One of the principal functions of the brain is to control movement and rapidly adapt behavior to a changing external environment. Over the last decades our ability to monitor activity in the brain, manipulate it while also manipu... Read More about Fast, flexible closed-loop feedback: Tracking movement in “real-millisecond-time”.

Feed-forward selection of cerebellar models for calibration of robot sound source localization (2019)
Presentation / Conference Contribution

© 2019, Springer Nature Switzerland AG. We present a responsibility predictor, based on the adaptive filter model of the cerebellum, to provide feed-forward selection of cerebellar calibration models for robot Sound Source Localization (SSL), based o... Read More about Feed-forward selection of cerebellar models for calibration of robot sound source localization.

Audio Localization for Robots Using Parallel Cerebellar Models (2018)
Journal Article

© 2016 IEEE. A robot audio localization system is presented that combines the outputs of multiple adaptive filter models of the Cerebellum to calibrate a robot's audio map for various acoustic environments. The system is inspired by the MOdular Selec... Read More about Audio Localization for Robots Using Parallel Cerebellar Models.

Whisker-ratSLAM applied to 6D object identification and spatial localisation (2018)
Presentation / Conference Contribution

© Springer International Publishing AG, part of Springer Nature 2018. The problem of tactile object identification has a strong connection with the problem of Simultaneous Localization and Mapping (SLAM) in a physical 6-dimensional environment. Here... Read More about Whisker-ratSLAM applied to 6D object identification and spatial localisation.

Feather-inspired sensor for stabilizing unmanned aerial vehicles in turbulent conditions (2017)
Book Chapter

Stabilizing unmanned aerial vehicles (UAVs) in turbulent conditions is a challenging problem. Typical methods of stabilization do not use feedforward information about the airflow disturbances but only UAV attitude feedback signals, e.g. from an iner... Read More about Feather-inspired sensor for stabilizing unmanned aerial vehicles in turbulent conditions.

An adaptive modular recurrent cerebellum-inspired controller (2017)
Presentation / Conference Contribution

Animals and robots face the common challenge of interacting with an unstructured environment. While animals excel and thrive in such environments, modern robotics struggles to effectively execute simple tasks. To help improve performance in the face... Read More about An adaptive modular recurrent cerebellum-inspired controller.

Self-adaptive context aware audio localization (2017)
Book Chapter

An audio sensor system is presented that uses multiple cere-
bellar models to determine the acoustic environment in which a robot is operating, allowing the robot to select appropriate models to calibrate its audio-motor map for the detected environ... Read More about Self-adaptive context aware audio localization.

Advancing whisker based navigation through the implementation of bio-inspired whisking strategies (2016)
Presentation / Conference Contribution

An active whisking tactile sensor array has been
successfully integrated with the RatSLAM algorithm and
demonstrated as capable of reducing error in pose estimates of a mobile robot. A new metric for evaluating the performance of RatSLAM is introdu... Read More about Advancing whisker based navigation through the implementation of bio-inspired whisking strategies.

Visual-tactile sensory map calibration of a biomimetic whiskered robot (2016)
Presentation / Conference Contribution

© 2016 IEEE. We present an adaptive filter model of cerebellar function applied to the calibration of a tactile sensory map to improve the accuracy of directed movements of a robotic manipulator. This is demonstrated using a platform called Bellabot... Read More about Visual-tactile sensory map calibration of a biomimetic whiskered robot.

Measuring the local viscosity and velocity of fluids using a biomimetic tactile whisker (2015)
Presentation / Conference Contribution

© Springer International Publishing Switzerland 2015. A novel technique for determining the relative visco-density of fluids using an actuated flexible beam inspired by the tactile whiskers of marine mammals is presented. This was developed for the i... Read More about Measuring the local viscosity and velocity of fluids using a biomimetic tactile whisker.

The robot vibrissal system: Understanding mammalian sensorimotor co-ordination through biomimetics (2015)
Book Chapter

© Springer Science+Business Media, LLC 2015. We consider the problem of sensorimotor co-ordination in mammals through the lens of vibrissal touch, and via the methodology of embodied computational neuroscience-using biomimetic robots to synthesize an... Read More about The robot vibrissal system: Understanding mammalian sensorimotor co-ordination through biomimetics.

High speed switched, multi-channel drive for high voltage dielectric actuation of a biomimetic sensory array (2014)
Presentation / Conference Contribution

Electro-Active Polymers (EAP) have been described as artificial muscles due to their composition andmuscle-like dynamics [1]. Consequently they have attracted a lot of attention from the biomimetic robotics research community and heralded as a potent... Read More about High speed switched, multi-channel drive for high voltage dielectric actuation of a biomimetic sensory array.