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Yulia Sandamirskaya

In this session, we will discuss the role of neuromorphic computing in movement control of articulated robotic systems, such as robot arms. The discussion will start with 3-4 short presentations (statements) from INRC researchers and quests who work in domain of arm and full-body control. These presentations will include work in arm control that has been done on Loihi so far, an overview of mechanisms behind human arm control, and a example of bio-inspired control or a bio-inspired robotic body. Thus, our discussion will unfold between the neuromorphic versions of conventional control (PID, MPC) and bio-inspired control strategies, for which a neuromorphic implementation is yet to be established. Along the discussion, we will try to find answers to the following questions:

• Which subtasks or levels in motor control are particularly attractive for neuromorphic solutions and which are not? What would be the criteria for success of a solution? Which bottleneck could neuromorphic realization solve: scalability? latency? throughput?

• What are the challenges to make Neuromorphic approaches enter the main stream in robot control: Algorithms? Interfaces? Performance? Ecosystem?

Other questions will be collected prior to the workshop.

• Prof. Elishai Ezra Tsur (Neuro-Biomorphic Engineering Lab, Open Univ. Israel, http://nbel-lab.com/ )

  • Neuromorphic NEF-based inverse kinematics and PID control

• Florian Walter (Robotics, Artificial Intelligence and Real-time Systems, TUM, https://www.in.tum.de/en/i06/home/ )

  • Neuromorphic Computing is a Key Enabler for Biomimetic Robotics

• Manos Angelidis (Neuromorphic Computing, fortiss, https://www.fortiss.org/en/research/fields-of-research/detail/neuromorphic-computing )

  • Nonlinear swimming robot control with Loihi

• Prof. Gregor Schöner (Institute for Neuronal Computation, Ruhr-Univ. Bochum, https://www.ini.rub.de/ )

  • Neuronal basis of human movement control Key lessons from human movement  for neuromorphic approaches to movement generation

• Dr. Philipp Stratmann (Robotics and Mechatronics, German Aerospace Center, https://www.dlr.de/rm/en/desktopdefault.aspx/tabid-8017/ )

  • Learning to harness elasticity for optimal locomotion

• Alona Kharchenko, Rafael Hostettler (Roboy, Munich, https://roboy.org/ )

  • Roboy 3.0: bio-inspired musculoskeletal humanoid robot platform. Challenges in classical control and opportunities for neuromophic approaches

Link to a teaser for the guided discussion material coming soon. Please, add your questions and topic that you would like to discuss in the comments below.

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