@misc{10481/96344,
year = {2016},
month = {8},
url = {https://hdl.handle.net/10481/96344},
abstract = {Anthropomimetic robots sense, behave, interact, and feel like humans. By this definition, they require human-like physical hardware and actuation but also brain-like control and sensing. The most self-evident realization to meet those requirements would be a human-like musculoskeletal robot with a brain-like neural controller. While both musculoskeletal robotic hardware and neural control software have existed for decades, a scalable approach that could be used to build and control an anthropomimetic human-scale robot has not yet been demonstrated. Combining Myorobotics, a framework for musculoskeletal robot development, with SpiNNaker, a neuromorphic computing platform, we present the proof of principle of a system that can scale to dozens of neurally controlled, physically compliant joints. At its core, it implements a closed-loop cerebellar model that provides real-time, low-level, neural control at minimal power consumption and maximal extensibility. Higher-order (e.g., cortical) neural networks and neuromorphic sensors like silicon retinae or cochleae can be incorporated.},
organization = {German Federal Ministry for
Education and Research through the Bernstein Center for
Computational Neuroscience Munich (01GQ1004A)},
organization = {European
Union Seventh Framework Program (FP7/2007-2013)
under grant agreement 604102 (Human Brain Project)},
organization = {European
Union Seventh Framework Program (FP7/2007-2013)
under grant agreement 288219
(Myorobotics)},
organization = {DLR},
organization = {Spanish National Project NEUROPACT
(TIN2013-47069-P)},
organization = {University of Granada},
organization = {European
Union H2020 Framework Program (H2020-MSCA-IF-2014)
under grant agreement 653019 (CEREBSENSING)},
publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
title = {Musculoskeletal Robots: Scalability in Neural Control},
doi = {10.1109/MRA.2016.2535081},
author = {Richter, Christoph and Jentzsch, Sören and Hostettler, Rafael and Garrido Alcázar, Jesús Alberto and Ros Vidal, Eduardo and Knoll, Alois C. and Röhrbein, Florian and Smagt, Patrick van der and Conradt, Jörg},
}