Non-programmed gait generation of quadruped robot using pulse-type hardware neuron models

In this paper, the authors will propose the active gait generation of a quadruped robot. The theory that quadruped animals unconsciously generate gaits by some system based on neural networks in the spinal cord is widely accepted. However, how biological neurons or neural networks can generate gaits is not clear. To clarify the gait generation method, one of the solutions is using the neuron model similar to the biological neuron. We developed the quadruped robot system using self-inhibited pulse-type hardware neuron models (P-HNMs), which can output the electrical activity similar to those of biological neurons. The P-HNMs consist of the cell body model and the inhibitory synaptic model. The cell body model periodically outputs pulsed voltages; the inhibitory synaptic model inhibits the pulsed voltages. The pulse period can change by varying the synaptic weight control voltage applied to the P-HNMs. We varied the synaptic weight control voltage according to the pressure on the robot’s toes. Also, we changed the angle of the robot’s joints by a constant angle each time the P-HNMs output a pulse. As a result of the walking experiment, we confirmed that the robot generates walk gait and trot gait according to the moving speed. Also, we clarified the process by which the robot actively generates gaits from the upright state. These results show that animals may not use many biological neurons to generate gaits. Furthermore, the results suggest the possibility of realizing simple and bio-inspired robot control.

A minimal synaptic model for direction selective neurons in Drosophila

Visual motion estimation is a canonical neural computation. In Drosophila, recent advances have identified anatomical and functional circuitry underlying direction-selective computations. Models with varying levels of abstraction have been proposed to explain specific experimental results, but have rarely been compared across experiments. Here we construct a minimal, biophysically inspired synaptic model for Drosophila’s first-order direction-selective T4 cells using the wealth of available anatomical and physiological data. We show how this model relates mathematically to classical models of motion detection, including the Hassenstein-Reichardt correlator model. We used numerical simulation to test how well this synaptic model could reproduce measurements of T4 cells across many datasets and stimulus modalities. These comparisons include responses to sinusoid gratings, to apparent motion stimuli, to stochastic stimuli, and to natural scenes. Without fine-tuning this model, it sufficed to reproduce many, but not all, response properties of T4 cells. Since this model is flexible and based on straightforward biophysical properties, it provides an extensible framework for developing a mechanistic understanding of T4 neural response properties. Moreover, it can be used to assess the sufficiency of simple biophysical mechanisms to describe features of the direction-selective computation and identify where our understanding must be improved.

Decrease and increase of spikes in auditory neuron with time-varying synaptic inputs

Precise timing and brief inhibitory synapse associated with excitation, in auditory brainstem circuit, can affect the generation of spikes. Using a lot of principles of synaptic model verified in the experiments, we develop a time varying synaptic model into the auditory neuronal model to explore its dynamic behavior. The controllable relative time between excitation and inhibition can achieve the increase or decrease of spikes in auditory neuronal model, which is consistent with the findings. This phenomenon can take place after a lasting hyperpolarization rebound by observing the phase profiles. Our results provide insights into the further investigation in neuronal networks with time-varying and plastic synapses.