Short-term plasticity in a liquid state machine biomimetic robot arm controller

R. De Azambuja, F. B. Klein, S. V. Adams, M. F. Stoelen, A. Cangelosi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Biological neural networks are able to control limbs in different scenarios, with high precision and robustness. As neural networks in living beings communicate through spikes, modern neuromorphic systems try to mimic them making use of spike-based neuron models. Liquid State Machines (LSM), a special type of Reservoir Computing system made of spiking units, when it was first introduced, had plasticity on an external layer and also through Short-Term Plasticity (STP) within the reservoir itself. However, most neuromorphic hardware currently available does not implement both Short-Term Depression and Facilitation and some of them don't support STP at all. In this work, we test the impact of STP in an experimental way using a 2 degrees of freedom simulated robotic arm controlled by an LSM. Four trajectories are learned and their reproduction analysed with Dynamic Time Warping accumulated cost as the benchmark. The results from two different set-ups showed the use of STP in the reservoir was useful for one out of three tested trajectories, though not computationally cost-effective for this particular robotic task.

Original languageEnglish
Title of host publication2017 International Joint Conference on Neural Networks, IJCNN 2017 - Proceedings
PublisherIEEE
Pages3399-3408
Number of pages10
Volume2017-May
ISBN (Electronic)9781509061815
DOIs
Publication statusPublished - 30 Jun 2017
Event2017 International Joint Conference on Neural Networks, IJCNN 2017 - Anchorage, United States
Duration: 14 May 201719 May 2017

Conference

Conference2017 International Joint Conference on Neural Networks, IJCNN 2017
Country/TerritoryUnited States
CityAnchorage
Period14/05/1719/05/17

Keywords

  • Liquid State Machine
  • Reservoir Computing
  • Robotics
  • Short-Term Plasticity

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