article

A Simple Aplysia-Like Spiking Neural Network to Generate Adaptive Behavior in Autonomous Robots

Authors:

Kazuyuki MuraseAuthors Info & Claims

Adaptive Behavior, Volume 16, Issue 5

Pages 306 - 324

https://doi.org/10.1177/1059712308093869

Published: 01 October 2008 Publication History

Abstract

In this article, we describe an adaptive controller for an autonomous mobile robot with a simple structure. Sensorimotor connections were made using a three-layered spiking neural network (SNN) with only one hidden-layer neuron and synapses with spike timing-dependent plasticity (STDP). In the SNN controller, synapses from the hidden-layer neuron to the motor neurons received presynaptic modulation signals from sensory neurons, a mechanism similar to that of the withdrawal reflex circuit of the sea slug, Aplysia. The synaptic weights were modified dependent on the firing rates of the presynaptic modulation signal and that of the hidden-layer neuron by STDP. In experiments using a real robot, which uses a similar simple SNN controller, the robot adapted quickly to the given environment in a single trial by organizing the weights, acquired navigation and obstacle-avoidance behavior. In addition, it followed dynamical changes in the environment. This associative learning scheme can be a new strategy for constructing adaptive agents with minimal structures, and may be utilized as an essential mechanism of an SNN ensemble that binds multiple sensory inputs and generates multiple motor outputs.

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Cited By

Alnajjar FBin Mohd Zin IMurase K(2018)A Hierarchical Autonomous Robot Controller for Learning and MemoryAdaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems10.1177/105971230910581417:3(179-196)Online publication date: 24-Dec-2018
https://dl.acm.org/doi/10.1177/1059712309105814
Rizzi Raymundo CJohnson C(2014)An Artificial Synaptic Plasticity Mechanism for Classical Conditioning with Neural NetworksAdvances in Neural Networks – ISNN 201410.1007/978-3-319-12436-0_24(213-221)Online publication date: 28-Nov-2014
https://dl.acm.org/doi/10.1007/978-3-319-12436-0_24

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A Simple Aplysia-Like Spiking Neural Network to Generate Adaptive Behavior in Autonomous Robots

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cover image Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems

Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems Volume 16, Issue 5

October 2008

60 pages

ISSN:1059-7123

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Sage Publications, Inc.

United States

Publication History

Published: 01 October 2008

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Cited By

Alnajjar FBin Mohd Zin IMurase K(2018)A Hierarchical Autonomous Robot Controller for Learning and MemoryAdaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems10.1177/105971230910581417:3(179-196)Online publication date: 24-Dec-2018
https://dl.acm.org/doi/10.1177/1059712309105814
Rizzi Raymundo CJohnson C(2014)An Artificial Synaptic Plasticity Mechanism for Classical Conditioning with Neural NetworksAdvances in Neural Networks – ISNN 201410.1007/978-3-319-12436-0_24(213-221)Online publication date: 28-Nov-2014
https://dl.acm.org/doi/10.1007/978-3-319-12436-0_24

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