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Reach Space Analysis of Baseline Differential Extrinsic Plasticity Control

Published version
Peer-reviewed

Type

Article

Change log

Authors

Abdulali, Arsen 
Iida, Fumiya 

Abstract

The neuroplasticity rule Differential Extrinsic Plasticty (DEP) has been studied in the context of goal-free simulated agents, producing realistic-looking, environmentally-aware behaviours, but no successful control mechanism has yet been implemented for intentional behaviour. The goal of this paper is to determine if "short-circuited DEP", a simpler, open-loop variant can generate desired trajectories in a robot arm. DEP dynamics, both transient and limit cycles are poorly understood. Experiments were performed to elucidate these dynamics and test the ability of a robot to leverage these dynamics for target reaching and circular motions.

Description

Keywords

Journal Title

Frontiers in Neurorobotics

Conference Name

Journal ISSN

1662-5218

Volume Title

Publisher

Frontiers Media
Sponsorship
Engineering and Physical Sciences Research Council (EP/L015889/1)
This project was possible thanks to EPSRC Grant EP/L01- 5889/1, the Royal Society ERA Foundation Translation Award (TA160113), EPSRC Doctoral Training Program ICASE AwardRG84492 (cofunded by G’s Growers), EPSRC Small Partnership AwardRG86264 (in collaboration with G’s Growers), and the BBSRC Small Partnership Grant RG81275.