Birrell Simon, Abdulali Arsen, Iida Fumiya
Bio-Inspired Robotics Laboratory, Department of Engineering, University of Cambridge, Cambridge, United Kingdom.
Front Neurorobot. 2022 Jun 1;16:848084. doi: 10.3389/fnbot.2022.848084. eCollection 2022.
The neuroplasticity rule Differential Extrinsic Plasticity (DEP) has been studied in the context of goal-free simulated agents, producing realistic-looking, environmentally-aware behaviors, but no successful control mechanism has yet been implemented for intentional behavior. The goal of this paper is to determine if "short-circuited DEP," a simpler, open-loop variant can generate desired trajectories in a robot arm. DEP dynamics, both transient and limit cycles are poorly understood. Experiments were performed to elucidate these dynamics and test the ability of a robot to leverage these dynamics for target reaching and circular motions.
神经可塑性规则“差异外在可塑性”（DEP）已在无目标模拟智能体的背景下进行了研究，产生了看似逼真、具有环境感知能力的行为，但尚未为有意行为实施成功的控制机制。本文的目标是确定“短路DEP”（一种更简单的开环变体）是否能在机器人手臂中生成所需轨迹。DEP动力学，包括瞬态和极限环，目前了解甚少。进行了实验以阐明这些动力学，并测试机器人利用这些动力学进行目标到达和圆周运动的能力。
