Adaptive cerebellar spiking model embedded in the control loop: context switching and robustness against noise

Abstract

This work evaluates the capability of a spiking cerebellar model embedded in different loop architectures (recurrent, forward, and forward&recurrent) to control a robotic arm (three degrees of freedom) using a biologically-inspired approach. The implemented spiking network relies on synaptic plasticity (long-term potentiation and long-term depression) to adapt and cope with perturbations in the manipulation scenario: changes in dynamics and kinematics of the simulated robot. Furthermore, the effect of several degrees of noise in the cerebellar input pathway (mossy fibers) was assessed depending on the employed control architecture. The implemented cerebellar model managed to adapt in the three control architectures to different dynamics and kinematics providing corrective actions for more accurate movements. According to the obtained results, coupling both control architectures (forward&recurrent) provides benefits of the two of them and leads to a higher robustness against noise.

Publication
International Journal of Neural Systems
Niceto Luque
Niceto Luque
Associate Professor

Associate Professor at the Department of Computer Engineering, Automation and Robotics and Principal Investigator at the Applied Computational Neuroscience Group.

Jesús Garrido
Jesús Garrido
Associate Professor

Associate professor in Computation technology, senior researcher at the Computational Neuroscience and Neurorobotics Lab and principal investigator of the VALERIA lab of the University of Granada.

Ríchard R. Carrillo
Ríchard R. Carrillo
Assistant Professor

Associate Professor at the Department of Computer Engineering, Automation and Robotics and Principal Investigator at the Applied Computational Neuroscience Group.

Eduardo Ros
Eduardo Ros
Full Professor

Full professor in computer architecture, principal investigator at the Computational Neuroscience and Neurorobotics Lab and principal investigator of the VALERIA lab of the University of Granada.