Artículo
Towards Real-World Neurorobotics: Integrated Neuromorphic Visual Attention
Autor/es | Adams, Samantha V.
Rast, Alexander D. Patterson, Cameron Gallupi, Francesco Brohan, Kevin Pérez Carrasco, José Antonio Wennekers, Thomas Furber, Steve B. Cangelosi, Angelo |
Departamento | Universidad de Sevilla. Departamento de Teoría de la Señal y Comunicaciones |
Fecha de publicación | 2014 |
Fecha de depósito | 2018-10-29 |
Publicado en |
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Resumen | Neuromorphic hardware and cognitive robots seem like an obvious fit,
yet progress to date has been frustrated by a lack of tangible progress in achieving
useful real-world behaviour. System limitations: the simple and ... Neuromorphic hardware and cognitive robots seem like an obvious fit, yet progress to date has been frustrated by a lack of tangible progress in achieving useful real-world behaviour. System limitations: the simple and usually proprietary nature of neuromorphic and robotic platforms, have often been the fundamental barrier. Here we present an integration of a mature “neuromimetic” chip, SpiNNaker, with the humanoid iCub robot using a direct AER - address-event representation - interface that overcomes the need for complex proprietary protocols by sending information as UDP-encoded spikes over an Ethernet link. Using an existing neural model devised for visual object selection, we enable the robot to perform a real-world task: fixating attention upon a selected stimulus. Results demonstrate the effectiveness of interface and model in being able to control the robot towards stimulus-specific object selection. Using SpiNNaker as an embeddable neuromorphic device illustrates the importance of two design features in a prospective neurorobot: universal configurability that allows the chip to be conformed to the requirements of the robot rather than the other way ’round, and stan- dard interfaces that eliminate difficult low-level issues of connectors, cabling, signal voltages, and protocols. While this study is only a building block towards that goal, the iCub-SpiNNaker system demonstrates a path towards meaningful behaviour in robots controlled by neural network chips. |
Cita | Adams, S.V., Rast, A.D., Patterson, C., Gallupi, F., Brohan, K., Pérez Carrasco, J.A.,...,Cangelosi, A. (2014). Towards Real-World Neurorobotics: Integrated Neuromorphic Visual Attention. Lectures notes in computer science, 8836, 563-570. |
Ficheros | Tamaño | Formato | Ver | Descripción |
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ICONIP2014RealWorldNeuroRobot.pdf | 562.6Kb | [PDF] | Ver/ | |