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dc.contributor.authorBirrell, Simon
dc.contributor.authorAbdulali, Arsen
dc.contributor.authorIida, Fumiya
dc.date.accessioned2022-06-15T08:00:16Z
dc.date.available2022-06-15T08:00:16Z
dc.date.issued2022
dc.date.submitted2022-01-03
dc.identifier.issn1662-5218
dc.identifier.urihttps://www.repository.cam.ac.uk/handle/1810/338107
dc.description.abstractThe neuroplasticity rule Differential Extrinsic Plasticity (DEP) has been studied in the context of goal-free simulated agents, producing realistic-looking, environmentally-aware behaviors, but no successful control mechanism has yet been implemented for intentional behavior. 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.
dc.description.sponsorshipThis 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.
dc.languageen
dc.publisherFrontiers Media SA
dc.subjectNeuroscience
dc.subjectDifferential Extrinsic Plasticity
dc.subjectself-organization
dc.subjectrobotic control
dc.subjectplay
dc.subjectintrinsic motivation
dc.subjectneuroplasticity
dc.subjectreinforcement learning
dc.subjectcomplexity
dc.titleReach Space Analysis of Baseline Differential Extrinsic Plasticity Control.
dc.typeArticle
dc.date.updated2022-06-15T08:00:16Z
prism.publicationNameFront Neurorobot
prism.volume16
dc.identifier.doi10.17863/CAM.85516
dcterms.dateAccepted2022-04-25
rioxxterms.versionofrecord10.3389/fnbot.2022.848084
rioxxterms.versionVoR
rioxxterms.licenseref.urihttp://creativecommons.org/licenses/by/4.0/
dc.contributor.orcidBirrell, Simon [0000-0002-3636-0177]
dc.identifier.eissn1662-5218
pubs.funder-project-idEngineering and Physical Sciences Research Council (EP/L015889/1)
cam.issuedOnline2022-06


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