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Closed Loop Interactions between Spiking Neural Network and Robotic Simulators Based on MUSIC and ROS
KTH, School of Computer Science and Communication (CSC), Centres, Centre for High Performance Computing, PDC.
2016 (English)In: Frontiers in Neuroinformatics, ISSN 1662-5196, E-ISSN 1662-5196, Vol. 10, 31Article in journal (Refereed) Published
Abstract [en]

In order to properly assess the function and computational properties of simulated neural systems, it is necessary to account for the nature of the stimuli that drive the system. However, providing stimuli that are rich and yet both reproducible and amenable to experimental manipulations is technically challenging, and even more so if a closed-loop scenario is required. In this work, we present a novel approach to solve this problem, connecting robotics and neural network simulators. We implement a middleware solution that bridges the Robotic Operating System (ROS) to the Multi-Simulator Coordinator (MUSIC). This enables any robotic and neural simulators that implement the corresponding interfaces to be efficiently coupled, allowing real-time performance for a wide range of configurations. This work extends the toolset available for researchers in both neurorobotics and computational neuroscience, and creates the opportunity to perform closed-loop experiments of arbitrary complexity to address questions in multiple areas, including embodiment, agency, and reinforcement learning.

Place, publisher, year, edition, pages
Frontiers Media , 2016. Vol. 10, 31
Keyword [en]
neural network simulations, robotic simulations, neurorobotics, closed-loop, real-time
National Category
Bioinformatics (Computational Biology)
Identifiers
URN: urn:nbn:se:kth:diva-191747DOI: 10.3339/fninf.2016.00031ISI: 000380668600001PubMedID: 27536234OAI: oai:DiVA.org:kth-191747DiVA: diva2:957516
Funder
EU, FP7, Seventh Framework Programme, 604102
Note

QC 20160902

Available from: 2016-09-02 Created: 2016-09-02 Last updated: 2016-09-02Bibliographically approved

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Djurfeldt, Mikael
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