Dataset Information

Echo State Networks for Estimating Exteroceptive Conditions From Proprioceptive States in Quadruped Robots.

ABSTRACT: We propose a methodology based on reservoir computing for mapping local proprioceptive information acquired at the level of the leg joints of a simulated quadruped robot into exteroceptive and global information, including both the ground reaction forces at the level of the different legs and information about the type of terrain traversed by the robot. Both dynamic estimation and terrain classification can be achieved concurrently with the same reservoir computing structure, which serves as a soft sensor device. Simulation results are presented together with preliminary experiments on a real quadruped robot. They demonstrate the suitability of the proposed approach for various terrains and sensory system fault conditions. The strategy, which belongs to the class of data-driven models, is independent of the robotic mechanical design and can easily be generalized to different robotic structures.

SUBMITTER: Calandra M

PROVIDER: S-EPMC8421012 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature

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Publications

Echo State Networks for Estimating Exteroceptive Conditions From Proprioceptive States in Quadruped Robots.

Calandra Mario M Patanè Luca L Sun Tao T Arena Paolo P Manoonpong Poramate P

Frontiers in neurorobotics 20210823

We propose a methodology based on reservoir computing for mapping local proprioceptive information acquired at the level of the leg joints of a simulated quadruped robot into exteroceptive and global information, including both the ground reaction forces at the level of the different legs and information about the type of terrain traversed by the robot. Both dynamic estimation and terrain classification can be achieved concurrently with the same reservoir computing structure, which serves as a s ...[more]

PMID: 34497502

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Project description:Recurrent cortical networks provide reservoirs of states that are thought to play a crucial role for sequential information processing in the brain. However, classical reservoir computing requires manual adjustments of global network parameters, particularly of the spectral radius of the recurrent synaptic weight matrix. It is hence not clear if the spectral radius is accessible to biological neural networks. Using random matrix theory, we show that the spectral radius is related to local properties of the neuronal dynamics whenever the overall dynamical state is only weakly correlated. This result allows us to introduce two local homeostatic synaptic scaling mechanisms, termed flow control and variance control, that implicitly drive the spectral radius toward the desired value. For both mechanisms the spectral radius is autonomously adapted while the network receives and processes inputs under working conditions. We demonstrate the effectiveness of the two adaptation mechanisms under different external input protocols. Moreover, we evaluated the network performance after adaptation by training the network to perform a time-delayed XOR operation on binary sequences. As our main result, we found that flow control reliably regulates the spectral radius for different types of input statistics. Precise tuning is however negatively affected when interneural correlations are substantial. Furthermore, we found a consistent task performance over a wide range of input strengths/variances. Variance control did however not yield the desired spectral radii with the same precision, being less consistent across different input strengths. Given the effectiveness and remarkably simple mathematical form of flow control, we conclude that self-consistent local control of the spectral radius via an implicit adaptation scheme is an interesting and biological plausible alternative to conventional methods using set point homeostatic feedback controls of neural firing.

Dataset Information

Echo State Networks for Estimating Exteroceptive Conditions From Proprioceptive States in Quadruped Robots.

Publications

Echo State Networks for Estimating Exteroceptive Conditions From Proprioceptive States in Quadruped Robots.

Similar Datasets

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