Dynamical Systems, Wave-Based Computation and Neuro-Inspired Robots

1. Front Matter

   Pages i-ix

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2. Foundations of Neurodynamics and wave based computation for locomotion modeling

   1. Front Matter

      Pages 1-1

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   2. Overview of Motor Systems. Types of Movements: Reflexes, Rhythmical and Voluntary Movements

      • Tatiana G. Deliagina

      Pages 3-14

   3. Initiation and generation of Movements: 1. Central Pattern Generators

      • Tatiana G. Deliagina

      Pages 15-27

   4. Initiation and Generation of Movements: 2. Command Systems

      • Tatiana G. Deliagina

      Pages 29-40

   5. Stabilization of Posture

      • Tatiana G. Deliagina

      Pages 41-53

   6. Locomotion as a Spatial-temporal Phenomenon: Models of the Central Pattern Generator

      • Paolo Arena

      Pages 55-68

   7. Design of CPGs via spatial distributed non linear dynamical systems

      • Paolo Arena

      Pages 69-85

   8. Realization of bio-inspired locomotion machines via nonlinear dynamical circuits

      • Paolo Arena

      Pages 87-102

   9. Using robots to model biological behaviour

      • Barbara Webb

      Pages 103-115

3. From sensing toward perception

   1. Front Matter

      Pages 117-117

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   2. Spiking neuron controllers for a sound localising robot

      • Barbara Webb

      Pages 119-130

   3. Combining several sensorimotor systems: from insects to robot implementations

      • Barbara Webb

      Pages 131-142

   4. Sensory Feedback in locomotion control

      • Paolo Arena, Luigi Fortuna, Mattia Frasca, Luca Patané

      Pages 143-158

   5. A looming detector for collision avoidance

      • Paolo Arena, Luca Patané

      Pages 159-168

   6. Hearing: recognition and localization of sound

      • Paolo Arena, Luigi Fortuna, Mattia Frasca, Luca Patané

      Pages 169-179

   7. Perception and robot behavior

      • Paolo Arena, Davide Lombardo, Luca Patané

      Pages 181-197

4. Practical Issues

   1. Front Matter

      Pages 199-199

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   2. Practical Issues of “Dynamical Systems, Wave based Computation and Neuro-Inspired Robots” — Introduction

      • Adriano Basile, Mattia Frasca

      Pages 201-212

   3. Locomotion control of a hexapod by Turing patterns

      • Marco Pavone, Michael Stich, Bernhard Streibl

      Pages 213-219

This volume is a special Issue on "Dynamical Systems, Wave based computation and neuro inspired robots'^ based on a Course carried out at the CISM in Udine (Italy), the last week of September, 2003. From the topics treated within that Course, several new ideas were f- mulated, which led to a new kind of approach to locomotion and p- ception, grounded both on biologically inspired issues and on nonlinear dynamics. The Course was characterised by a high degree of multi disciplinarity. In fact, in order to conceive, design and build neuro inspired machines, it is necessary to deeply scan into different d- ciplines, including neuroscience. Artificial Intelligence, Biorobotics, Dynamical Systems theory and Electronics. New types of moving machines should be more closely related to the biological rules, not discarding the real implementation issues. The recipe has to include neurobiological paradigms as well as behavioral aspects from the one hand, new circuit paradigms, able of real time control of multi joint robots on the other hand. These new circuit paradigms are based on the theory of complex nonlinear dynamical systems, where aggregates of simple non linear units into ensembles of lattices, have the pr- erty that the solution set is much richer than that one shown by the single units. As a consequence, new solutions ^'emerge'\ which are often characterized by order and harmony.

• Motor
• Sensor
• cellular neural networks
• circuit
• dynamical systems
• electronics
• logic
• neuro-robotics
• robotics

• University of Catania, Italy

  Paolo Arena

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