A cerebellar-based solution to the nondeterministic time delay problem in robotic control Abadía, Ignacio Naveros, Francisco Ros, Eduardo Carrillo, Richard Luque, Niceto Cerebellum Neurorobotics Closed-loop control Communication delays This work was supported by European Union Human Brain Project Specific Grant Agreement 3 (H2020-RIA. 945539); European Union Neuro Cerebellar Recurrent Network for Motor Sequence Learning in Neurorobotics: NEUSEQBOT (891774); European Union and Junta de Andalucía, CEREBIO (P18-FR-2378); FEDER-Junta de Andalucía (A-TIC-276-UGR18); and the National Grants INTSENSO & SPIKEAGE (MICINN-FEDER-PID2019-109991GB-I00 & PID2020-113422GA-I00). The presence of computation and transmission-variable time delays within a robotic control loop is a major cause of instability, hindering safe human-robot interaction (HRI) under these circumstances. Classical control theory has been adapted to counteract the presence of such variable delays; however, the solutions provided to date cannot cope with HRI robotics inherent features. The highly nonlinear dynamics of HRI cobots (robots intended for human interaction in collaborative tasks), together with the growing use of flexible joints and elastic materials providing passive compliance, prevent traditional control solutions from being applied. Conversely, human motor control natively deals with low power actuators, nonlinear dynamics, and variable transmission time delays. The cerebellum, pivotal to human motor control, is able to predict motor commands by correlating current and past sensorimotor signals, and to ultimately compensate for the existing sensorimotor human delay (tens of milliseconds). This work aims at bridging those inherent features of cerebellar motor control and current robotic challenges—namely, compliant control in the presence of variable sensorimotor delays. We implement a cerebellar-like spiking neural network (SNN) controller that is adaptive, compliant, and robust to variable sensorimotor delays by replicating the cerebellar mechanisms that embrace the presence of biological delays and allow motor learning and adaptation. 2023-05-11T09:57:35Z 2023-05-11T09:57:35Z 2021-09-08 journal article https://hdl.handle.net/10481/81462 10.1126/scirobotics.abf2756 eng info:eu-repo/grantAgreement/EC/H2020/945539 info:eu-repo/grantAgreement/EC/H2020/NEUSEQBOT 891774 open access