Neurally inspired simulated swimming in the Neurorobotics Platform

date = {16.07.2018},

start = {Now},

type = {student},

contactName = {Angelidis Manos},

contactMail = {angelidis@fortiss.org}

pdf = {https://hbpneurorobotics.files.wordpress.com/2018/07/hbp-master-thesis-semester-project.pdf}

fortiss_square

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Publication

title = {Multimodal sensory representation for object classifaction via Neo-cortically inspried Algorithm},
author = {M. Kirtay, L. Vannucci, U. Albanese, E. Falotico, C. Laschi},
journal = {The International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob 2018)},
year = {2018}

Publication

title = {A Digital Hardware Realization for Spiking Model of Cutaneous Mechanoreceptor},
author = {N. Salimi-Nezhad, M. Amiri, E. Falotico, C. Laschi},
journal = {Frontiers in Neuroscience},
year = {2018}

link={https://doi.org/10.3389/fnins.2018.00322}

Booth CeBit 2018

Date: 12.06.2018
Venue: Hannover
Duration: 4 Days

TUM presented the Neurorobotics Platform and our Robot Mice at the CeBIT.
For one week you could see our robots live and learn how they and the NRP are used within the HBP research.
Thanks to the many people showing interest in the NRP and our Robots.

DSC_46811

Publication

title = {Spatial pooling as feature selection method for object recognition},
author = {M. Kirtay, L. Vannucci, U. Albanese, A. Ambrosano, E. Falotico, C. Laschi},
journal = {European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning (ESANN 2018)},
year = {2018},

link={https://www.elen.ucl.ac.be/Proceedings/esann/esannpdf/es2018-142.pdf}

Workshop at the ERF!

Come join us during our workshop on 15.03. at ERF2018!

We will give an overview of neurorobotics and demonstrate our platform. You can learn how you can use it for your own projects/research and participate in an interactive session to discuss the platform’s strengths and opportunities so it can become even better in the future.

Our workshop is titled “Beyond conventional AI – the Neurorobotics Platform” and will take place in room Maestro at 2PM.

DWJ0uwoWkAAQ2rq.png

 

image from http://automation-review.com/event/

24. Handelsblatt Jahrestagung Strategisches IT-Management 2018

Date: 16.01.2018
Venue: Sofitel Munich Bayerpost

Alois Knoll gave a keynote talk on neurorobotics and the Human Brain Project at the conference Handelsblatt Jahrestagung Strategisches IT-Management 2018. IT managers learned how HBP technology such as the Neurorobotics Platform can be used as tools for creating innovative brain-derived products and solutions. In the break, participants had the chance to meet our robot mouse.

http://veranstaltungen.handelsblatt.com/it-jahrestagung/

Knoll_Handelsblatt

Learning to walk

Favorit Bar + Kunstverein München, in collaboration with the TU München and the Human Brain Project, present

Learning to Walk: Künstliche Intelligenz und Körper

Performance and grand finale at Kunstverein München: Learning to Walk: 42nd Street of 2018 takes place on 26th January.

Find out more here: http://www.kunstverein-muenchen.de/en/program/events/2017/learning-to-walk

and here https://www.facebook.com/events/168991993875889/?active_tab=about

 

 

HBP_Primary_RGB_BlackText

 

HBP Innovation Day

The HBP Innovation Day will take place in Munich on 15.12.2017!

For registering to the event, please send an Email with the title “HBP innovation Day” and stating your full name and affiliation to: events@bicc-net.de

Learn more here: https://www.humanbrainproject.eu/en/follow-hbp/events/hbp-innovation-day-neuroscience-driven-innovation-and-path-forward-ai-and-robotics/

 

HBP_Primary_RGB_BlackText

 

 

 

HBP Neurorobotics in the European Robotics Week 2017 Central Event

On November the 21th 2017, the UGent group in the HBP Neurorobotics will present its results on robotic quadruped locomotion and more broadly the work that has been done using the Neurorobotic Platform (NRP) at the Central Event for the European Robotics Week in Brussels. More info on: https://www.eu-robotics.net/robotics_week/newsroom/press/central-event-of-the-european-robotics-week-2017-to-take-place-in-brussels.html

HBP Summit 2017

Date: 17.10.2017
Venue: Glasgow

Duration: 4 days

The Human Brain Project (HBP) Summit is a unique forum for the HBP Consortium and its Partnering Projects to come together to present and learn about the latest scientific results and other project achievements, as well as to develop new ideas, plan next steps and network. The event consists of a 3-day interactive scientific programme, comprising plenary sessions, external keynote presentations, hackathons, demos, scientific highlight sessions and cross-disciplinary workshops.

https://www.humanbrainproject.eu/en/follow-hbp/news/5th-annual-human-brain-project-summit/

Summit.jpg

Publication

title = {Exact Spike Timing Computational Model of Convolutional Associative Memories},
author = {I. Peric, F. Schneider, C. H. Price, S. Ulbrich, A. Roennau, J. M. Zöllner, R. Dillmann},
journal = {Intnl. Conf. Cognitive Informatics & Cognitive Computing (ICCI*CC)},
year = {2017},

link={http://doi.ieeecomputersociety.org/10.1109/ICCI-CC.2017.8109748}

Publication

title = {Model-based Polynomial Function Approximation with Spiking Neural Networks},
author = {S. Ulbrich, T. Steward, I. Peric, A. Roennau, J. M. Zöllner, R. Dillmann},
journal = {Intnl. Conf. Cognitive Informatics & Cognitive Computing (ICCI*CC)},
year = {2017},

link={http://doi.org/10.1109/ICCI-CC.2017.8109725}

Publication

title = {Towards Grasping with Spiking Neural Networks for an Anthropomorphic Robot Hand},
author = {C. V. Tieck, H. Donat, J. Kaiser, I. Peric, S. Ulbrich, A. Rönnau, M. Zöllner, R. Dillmann},
journal = {Intnl. Conf. Artificial Neural Networks (ICANN)},
year = {2017},

link={https://doi.org/10.1007/978-3-319-68600-4_6}

Publication

title = {Semi-Supervised Spiking Neural Network for One-Shot Object Appearance Learning},
author = {I. Peric, R. Hangu, J. Kaiser, S. Ulbrich, A. Roennau, J. M. Zoellner, R. Dillman},
journal = {Intnl. Congr. Neurotechnology, Electronics and Informatics (NEUROTECHNIX)},
year = {2017},

link={https://doi.org/10.5220/0006503300470053}

Publication

title = {Probabilistic Symbol Encoding for Convolutional Associative Memories},
author = {I. Peric, A. Lesi, D. Spies, S. Ulbrich, A. Roennau, J. M. Zoellner, R. Dillman},
journal = {Intnl. Congr. Neurotechnology, Electronics and Informatics (NEUROTECHNIX)},
year = {2017},

link={https://doi.org/10.5220/0006503000220029}

NRP presented at Digital Summit in Tallinn

We presented the ongoing work in the HBP in Tallin at the Digital Summit. We were one of the main topics during this presentation to show the constantly improving NRP and its many possible applications.

Find out more here: https://www.humanbrainproject.eu/en/follow-hbp/news/the-hbp-at-the-tallinn-digital-summit/

Below you can see the latest addition to our project, a biologically inspired robotic mouse to further close the gap between biological and robotic systems.

Image from https://m.facebook.com/story.php?story_fbid=10156614926684325&id=390693124324

 

FB_IMG_1506769838371

User Workshop @ FZI Karlsruhe

Date: 24.07.2017
Venue: FZI, Karlsruhe, Germany
Duration: 3 Days

Thanks to all of the 17 participants for making this workshop a great time.

We held a successful Neurorobotics Platform (NRP) User Workshop in FZI, Karlsruhe.  We welcomed 17 attendants over three days, coming from various sub-projects (such as Martin Pearson, SP3) and HBP outsiders (Carmen Peláez-Moreno and  Francisco José Valverde Albacete). We focused on hands-on sessions so that users got comfortable using the NRP themselves.

IMG_1183IMG_1185

Thanks to our live boot image with the NRP pre-installed, even users who did not follow the local installation steps beforehand could run the platform locally in no time. During the first day, we provided a tutorial experiment, exclusively developed for the event, which walked the users through the many features of the NRP. This tutorial experiment is inspired from the baby playing ping pong video, which is here simulated with an iCub robot. This tutorial experiment will soon get released with the official build of the platform.

IMG_20170724_120245.jpg

On the second and third days, more freedom was given to the users so that they could implement their own experiments. We had short hands-on sessions on the Robot Designer as well as Virtual Coach, for offline optimization and analysis. Many new experiments were successfully integrated into the platform: the Miro robot from Consequential Robotics,  a snake-like robot moving with Central Patterns Generators (CPG), revival of the Lauron experiment, …

IMG_20170725_094219.jpg

We received great feedback from the users. We are looking forward for the organization of the next NRP User Workshop!

NRP User Workshop @ FZI Karlsruhe

Date: 24.07.2017
Venue: FZI, Karlsruhe, Germany
Duration: 3 Days

Thanks to all of the 17 participants for making this workshop a great time.

We held a successful Neurorobotics Platform (NRP) User Workshop in FZI, Karlsruhe.  We welcomed 17 attendants over three days, coming from various sub-projects (such as Martin Pearson, SP3) and HBP outsiders (Carmen Peláez-Moreno and  Francisco José Valverde Albacete). We focused on hands-on sessions so that users got comfortable using the NRP themselves.

IMG_1183IMG_1185

Thanks to our live boot image with the NRP pre-installed, even users who did not follow the local installation steps beforehand could run the platform locally in no time. During the first day, we provided a tutorial experiment, exclusively developed for the event, which walked the users through the many features of the NRP. This tutorial experiment is inspired from the baby playing ping pong video, which is here simulated with an iCub robot. This tutorial experiment will soon get released with the official build of the platform.

IMG_20170724_120245.jpg

On the second and third days, more freedom was given to the users so that they could implement their own experiments. We had short hands-on sessions on the Robot Designer as well as Virtual Coach, for offline optimization and analysis. Many new experiments were successfully integrated into the platform: the Miro robot from Consequential Robotics,  a snake-like robot moving with Central Patterns Generators (CPG), revival of the Lauron experiment, …

IMG_20170725_094219.jpg

We received great feedback from the users. We are looking forward for the organization of the next NRP User Workshop!

Publication

author = {J. Kaiser, R. Stal, A. Subramoney, A. Roennau, R. Dillmann},
title = {Scaling up liquid state machines to predict over address events from dynamic vision sensors},
journal = {Bioinspiration & Biomimetics},
year = {2017},
link = {https://www.ncbi.nlm.nih.gov/pubmed/28569669}

Publication

author={F. Naveros, J. A. Garrido, R. R. Carrillo, E.  Ros, N. R. Luque},

title={Event- and Time-Driven Techniques Using Parallel CPU-GPU Co-processing for Spiking Neural Networks},

journal={Frontiers in Neuroinformatics},

year={2017},

link={https://www.frontiersin.org/article/10.3389/fninf.2017.00007}

Publication

title = {Neurorobotics: From computational neuroscience to intelligent robots and back },

link = {https://doi.org/10.1007/978-3-662-54712-0_10},

author = {A. Knoll, F. Röhrbein, A. Kuhn, M. Akl, K. Sharma},

journal = {Informatik-Spektrum},

year = {2017}

Publication

author={L. Vannucci,  E. Falotico, S. Tolu, V. Cacucciolo, P. Dario, H. H. Lund, C. Laschi},

title={A comprehensive gaze stabilization controller based on cerebellar internal models},

journal={Bioinspiration & Biomimetics},

link={https://doi.org/10.1088/1748-3190/aa8581},

year={2017}

Publication

title = {About individual differences in vision},

author = {L. Grzeczkowski, A. M. Clarke, G. Francis, F. W. Mast, M. H. Herzog},

journal = {Vision Research},

year = {2017},

link = {https://doi.org/10.1016/j.visres.2016.10.006}

Publication

author={Z. Bing, L. Cheng, K. Huang, M. Zhou, A. Knoll},

journal={2017 IEEE International Conference on Robotics and Automation (ICRA)},

title={CPG-based control of smooth transition for body shape and locomotion speed of a snake-like robot},

year={2017},

link={10.1109/ICRA.2017.7989476},

Publication

 

author={G. Chen,  Z. Bing and F. Roehrbein, J. Conradt,  K. Huang, L. Cheng, Z. Jiang,  A. Knoll},

journal={IEEE Transactions on Cognitive and Developmental Systems},

title={Efficient Brain-inspired Learning with the Neuromorphic Snake-like Robot and the Neurorobotic Platform},

year={2017},

link={10.1109/TCDS.2017.2712712},

Publication

author={Z. Bing, L, Cheng, G. Chen, F. Röhrbein, K. Huang, A. Knoll},

title={Towards autonomous locomotion: CPG-based control of smooth 3D slithering gait transition of a snake-like robot},

journal={Bioinspiration & Biomimetics},

 

link={http://stacks.iop.org/1748-3190/12/i=3/a=035001},

year={2017}

Publication

title={Neural dynamics of grouping and segmentation explain properties of visual crowding.},

author={G. Francis, M. Manassi, M. H Herzog},

journal={Psychological review},

year={2017},

link = {}

Publication

author={T. C. Stewart, A. Kleinhans, A. Mundy, J. Conradt},   

title={Serendipitous Offline Learning in a Neuromorphic Robot},      

journal={Frontiers in Neurorobotics},      

year={2016},      

link={https://www.frontiersin.org/article/10.3389/fnbot.2016.00001},       

 

Publication

 

author = {C. Alia, C. Spalletti, L. Cristina, P. Stefano, A. Panarese, S. Micera, M. Caleo},

 

 

title = {Reducing GABAA-mediated inhibition improves forelimb motor function after focal cortical stroke in mice},

journal={Nature}

link = {http://dx.doi.org/10.1038/srep37823},

 

year = {2016},

 

Publication

title = {Mechanisms Underlying the Neuromodulation of Spinal Circuits for Correcting Gait and Balance Deficits after Spinal Cord Injury },

author = {E. M. Moraud, M. Capogrosso and E. Formento,  N.s Wenger, J. DiGiovanna, G. Courtine, S. Micera},

journal = {Neuron},

 

year = {2016},

 

link = {http://www.sciencedirect.com/science/article/pii/S0896627316000106}

 

Publication

author = {P. M. Cañada, C. Morillas, B. Pino, E. Ros,  F. Pelayo},

title = {A Computational Framework for Realistic Retina Modeling},

journal = {International Journal of Neural Systems},

 

year = {2016},

link = {10.1142/S0129065716500301},

 

Publication

author={G. Hinkel,  O. Denninger, K. Sebastian, H. Groenda},

 

title={Experiences with Model-Driven Engineering in Neurorobotics},

journal={Modelling Foundations and Applications: 12th European Conference, ECMFA 2016, Held as Part of STAF 2016, Vienna, Austria, July 6-7, 2016, Proceedings},

year={2016},

 

link={https://doi.org/10.1007/978-3-319-42061-5_14}

 

Upcoming Developer Workshop

We are pleased to announce our next developer Workshop at Fortiss in Munich!

It will be held from 4.10.-6.10. and will give our development the chance to plan the next release (2.0) in great detail and work out any remaining issues during these days of concentrated work. In the image below you can see our latest virtual room.

Holodeck.PNG

AI at TUM in german television

The well known german television series “Tatort” is currently filming an episode on a 10 year research project on artificial intelligence. They chose TUM in Munich as location. This just goes to show again how popular AI has become and how important it is to continue our research on AI combined with robotics.

The episode is now completed, find out more here: http://www.daserste.de/unterhaltung/krimi/tatort/specials/dreh-tatort-muenchen-ki100.html

Tatort_AI.jpeg

 

Publication

title = {The Neurorobotics Platform: A simulation environment for brain-inspired robotics},

link = {https://abstracts.g-node.org/conference/BC17/abstracts#/uuid/cdb88f26-cff3-483d-86e7-e02adc2d511f},

author = {M. Akl, HBP Neurorobotics Team},

journal = {Bernstein Conference 2017},

year = {2017}

Publication

title = {Hebbian Learning Based Sensorimotor Association in a Closed-Loop Neurorobotic Experiment},

link = {https://abstracts.g-node.org/conference/BC17/abstracts#/uuid/13b7df35-b597-4fb4-aa3c-dca3759e4501},

author = {B. Feldotto, F. Walter, F. Röhrbein},

journal = {Bernstein Conference 2017},

year = {2017}

We are presenting at the Bernstein Conference!

Flyer_BC17_final_200217_web

Colleagues from HBP neurorobotics are presenting 3 posters at the Bernstein Conference 2017 in Göttingen:

  1. Hebbian Learning Based Sensory to Motor Association in a Closed-Loop Neurorobotic Experiment
  2. The Neurorobotics Platform: A simulation environment for brain-inspired robotics
  3. Simple mathematical model of delay eyeblink conditioning in the cerebellum

Come talk to us and learn more about our project!

Lisl_header_2017.jpg

(images taken from http://www.bernstein-conference.de)

New publication

title = {Spiking Cooperative Stereo-Matching at 2 ms Latency with Neuromorphic Hardware},

author = {G. Dikov, M. Firouzi, F. Röhrbein, J. Conradt,  C. Richter},

 

journal = {Living Machines 2017: Biomimetic and Biohybrid Systems},

year = {2017}

link = {https://www.researchgate.net/publication/318449954_Spiking_Cooperative_Stereo-Matching_at_2_ms_Latency_with_Neuromorphic_Hardware}

User Workshop In Karlsruhe!

The Neurorobotics User Workshop will take place at FZI, Karlsruhe, from the 24th to the 26th of July. This workshop is a great opportunity for new users to integrate with the  community and make progress with their own experiments.

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Bringing Technology and People Closer Together

With our brain inspired robots being a relatively young development, it is of utmost importance to make them more approachable to the public. Amongst other technology trends, we represented our project in the course of the third future congress hosted by the Bundesministerium für Bildung und Forschung (BMBF).

IMG_2521

New publication

title = {A Scalable Neuro-inspired Robot Controller Integrating a Machine Learning Algorithm and a Spiking Cerebellar-like Network},

author = {I. Ojeda, S. Tolu, H. Lund},

journal = {Living Machines Conference},

year = {2017},

link = {https://link.springer.com/chapter/10.1007/978-3-319-63537-8_31}

3rd Japan-EU Workshop

Date: 15.06.2017
Venue: Biotech Campus Geneva
Duration: 1 day
In conjunction with the symposium „Building Bodies for Brains & Brains for Bodies“ on June 16 we had our 3rd Japan-EU Workshop on Neurorobotics in Geneva.
Speakers included:
Yoshihiko Nakamura (University of Tokyo)
Satoshi Oota (RIKEN)
Poramate Manoonpong (University of Southern Denmark),
Aaron Sloman (University of Birmingham)
It was the third in a hopefully now established series of workshops. For the past two workshops in this series in 2015 and 2016 see:
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Symposium: Building Bodies for Brains & Brains for Bodies

Date: 16.06.2017
Venue: Biotech Campus Geneva
Duration: 1 day

It was a one-day symposium in the field of neurorobotics with the goal of improving robot behavior by exploiting ideas from neuroscience and investigating brain function using real physical robots or simulations thereof.
Contributions to this workshop focussed on (but not limited to) the relation between neural systems – artificial or biological – and soft-material robotic platforms, in particular the “control” of such systems by capitalizing on their intrinsic dynamical characteristics like stiffness, viscosity and compliance.

HBP_Primary_RGB_BlackText.png

Building Bodies for Brains & Brains for Bodies

This extraordinary event with world-famous speakers including Masayuki Inaba, Yasuo Kuniyoshi, Minoru Asada and Norman Packard will take place in Geneva on June 16th, 2017.

It is a one-day symposium in the field of neurorobotics with the goal of improving robot behavior by exploiting ideas from neuroscience and investigating brain function using real physical robots or simulations thereof. Contributions to this workshop will focus on (but are not limited to) the relation between neural systems – artificial or biological – and soft-material robotic platforms, in particular the “control” of such systems by capitalizing on their intrinsic dynamical characteristics like stiffness, viscosity and compliance.

hbp-logo

The symposium will take place at the coordination site of the Human Brain Project in Geneva at Campus Biotech, Chemin des Mines 9, see also http://www.campusbiotech.ch/en

Pint of Science

Florian Röhrbein from our Subproject of Neurorobotics gave a fascinating talk at the first Pint of Science of 2017 in Munich, which dealt with the question “How are neuroscience, robotics, and artificial intelligence linked and how far have computers, robots and artificial intelligence already come in the world of medicine? ”

You can find impressions below and even more on Facebook: https://www.facebook.com/PoS.Munich

Find out more about this event here: https://pintofsciencede.wixsite.com/pintofsciencede/copy-of-2016m2

2017-05-15_0442017-05-15_055

HBP at the ISCAS 2017!

We attended the ISCAS 2017 (50th Anniversary) together with colleagues from SP9 to represent the HBP and to identify possible collaborations with other projects like the US BRAIN project which was featured in a keynote.

The ISCAS is described as “The world’s premier networking and exchange forum for leading researchers in the highly active fields of theory, design and implementation of circuits and systems. ” (from http://iscas2017.org/)

Learn more at http://iscas2017.org/

iscas2017-logo-2-final-w-text-web_artboard_2_copy

Neurorobotics Platform at “50 Jahre Informatik München”

The Neurorobotics Platform was featured in a publication in a special issue of Informatik Spektrum here: http://link.springer.com/article/10.1007/s00287-017-1031-8

During the celebration of 50 years of informatics at the TUM, we had a booth to present our neurorobotics platform to students and researchers. We were able to show the ongoing research and the platform’s features to the interested public.

 

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Functional components for control and behavioural models

Gaze stabilization experiment

In this work, we focused on reflexes used by humans for gaze stabilization. A model of gaze stabilization, based on the coordination of the vestibulo-collic reflex (VCR) and vestibulo-ocular reflex (VOR) has been designed and implemented on humanoid robots. The model, inspired on neuroscientific cerebellar theories, is provided with learning and adaptation capabilities based on internal models.

In a first phase, we designed experiments to assess the model’s response to disturbances, validating the model both with the NRP and with a real humanoid robot (SABIAN). In this phase, we mounted the SABIAN head on an oscillating platform (shown below) able to rotate along the pitch axis, in order to produce a disturbance.

 

The oscillating platform. In (a) the SABIAN head mounted on the platform, with its inertial reference frame is shown. The transmission of motion from the DC motor to the oscillating platform is depicted in (b).

In a second phase, we carried out experiments for testing the gaze stabilization capability of the model, during a locomotion task. We gathered human data of torso displacement while walking and running. The data has been used to animate a virtual iCub while the gaze stabilization model was active.

Balancing experiment

Using the same principles of the gaze stabilization experiment, we carried out a balancing experiment for a simulated iCub. In this experiment, the simulated iCub is holding up a red tray with a green ball on top. The goal of the experiment is to control the robot’s roll and pitch joints for the wrist, in order to keep the ball in the center of the tray. The control model for the wrist joints is provided with learning and adaptation capabilities based on internal models.

Visual segmentation experiment

A cortical model for visual segmentation (Laminart) has been built with the aim of integrating it in the neurorobotics platform. The goal is to see how the model behaves in a realistic visual environment. A second goal is to connect it to another model for the retina.
The model consists of a biologically plausible network containing hundreds of thousands of neurons and several millions connections embedded in about 50 cortical layers. It is built functionnaly in order to link objects that are likely to group together with illusory contours, and to segment disctinct perceptual groups in separate segmentation layers.
Up to now, the Laminart model has been successfully integrated in the NRP and first expriments are being built to check the behaviour of the model and discover what has to be added to it to ensure it can coherently segment objects from each other in a realistic environment. Besides, the Laminart model is almost connected to the retina model.
In the future, the model will be connected to other models for saliency detection, learning, predictive coding, decision making, on the NRP, to create a closed loop experiment. It will also take into account some experimental data about texture segmentation and contour integration.
segmentation

Visual perception experiment

In this work, we evaluated the construction of neural models for visual perception. The validation scenario chosen for the models is an end-to-end controller capable of lane following for an self-driving vehicle. We developed a visual encoder from camera images to spikes inspired by the silicon retina (i.e., the DVS Dynamic Vision Sensor). The veichle controller embeds a wheel decoder based on a virtual agonist antagonist muscle model.

visual-perception-jacques-1

 

Grasping experiment

During the first 12 month of SGA1, we investigated methods for representing and executing grasping motions with spiking neural networks that can be simulated in the NEST simulator and therefore, the Neurorobotics Platform. For grasping in particular, humans can remember motions and modify them while executing based on the shape and the interaction with objects. We developed a spiking neural network with a biologically inspired architecture to perform different grasping motions, that first learns with plasticity from human demonstration in simulation and then is used to control a humanoid robotic hand. The network is made with two types of associative networks trained independently: One represents single fingers and learns joint synergies as motion primitives; and another represents the hand and coordinates multiple finger networks to execute a specific grasp. Both receive the joint states as proprioception using population encoding, and the finger networks also receives tactile feedback to inhibit the output neurons and stop the motion if a contact with an object is detected.

grasping-camilo-1

grasping-camilo-4

Multimodal sensory representation for invariant object recognition

This functional component integrates multisensory information -namely tactile, visual and auditory- to form an object representation. Although we firstly target invariant object recognition problem using the only visual information, the component is capable of combining other sensory modalities. The model is based on computational phases of the Hierarchical Temporal Memory which is inspired by operating principles of the mammalian neocortex. The model was adapted and modified to extract a multimodal sensory representation of an object. The representation can be interpreted as a cortical representation of perceived inputs. To test the model, we perform object recognition in COIL-20 and COIL-100 datasets in which consist of 20 and 100 different objects (see Figure 1). In details, each object rotated 5 degrees on a turntable and object image was captured by the camera (see Figure2). In addition to image acquisition steps, a number post-processing procedures such as background elimination and size normalization were performed on the images.

multimodal-murat-1

Figure 1 Selected images from different categories.

multimodal-murat-2

Figure 2 A duck object under various rotational transformations.

To obtain object representations, the standard image processing algorithms were performed to binarize and downsize available images in datasets. Then, the model was fed with the processed image data to generate sparsely distributed representation of the perceived images. A sample processed image and cortical representation of the same visual pattern are illustrated in Figure 3 and Figure 4, respectively. Note that, the representation of an object with different sensory inputs can be achieved by same procedure and concatenating the obtained representations for each modality.

Figure 3 A processed visual pattern.                            Figure 4 Cortical representation of a visual pattern

After obtaining representation for all images, we perform recognition operations by grouping the datasets into two categories which are memory representation (or training set) and unseen object patterns (or test set). The representation similarity metric defined as the number of same active cortical columns (the same active bits in the same location) between existing and unseen patterns. The recognition accuracies are shown in Table below. and were derived via splitting training and testing dataset by 10% to 90% and each time incremented by 10.

Training percent

COIL-20

COIL-100

10

90.4

89.0

20

94.3

91.2

30

96.9

94.9

40

97.2

95.6

50

98.3

96.5

60

98.2

97.0

70

98.4

97.3

80

98.6

97.0

90

98.7

96.8

The obtained results indicate that the modal performs well with single modality. Our ongoing studies focus on integrating multiple sensory information (e.g. tactile) to represent multimodal representation to achieve a grasping task.

 

NRP version 1.2 released!

The 1.2 version of the Neurorobotics Platform has been released! As usual, you can access it from:
https://collab.humanbrainproject.eu/#/collab/71/nav/405
or from our website
http://neurorobotics.net

This versions adds:

Support for bigger brain models
Graphical transfer functions editor
Basic brain visualization
Python API for batch simulations (Virtual Coach)
Object scaling
New template experiments
Camera Streaming
Object Scaling
Environment Enhancements

and updated documentation and video tutorials.

Known issues are slow access on private collabs, which should be fixed soon, and some experiments not automatically switching to 3D view, which we are working on.

We are naturally moving to our next 1.3 release cycle, which will add even more great features and enhancements. These will be announced on the website roadmap shortly.

virtualLab.png

The picture shows a redesigned virtual lab, featuring the mouse experiment and our new brain visualizer.

Developer Workshop 1.3 at Fortiss

Date: 06.04.2017
Venue: Fortiss
Duration: 2 days

As the NRP development team is in the process of releasing 1.2, it holds on 6th and 7th April its 6-monthly developer workshop, this time at fortiss in Munich. This workshop closes the 1.2 release cycle with technical presentations of the new features by developers, updates from our scientistific coordinator and a scrum release retrospective. It also opens the new 1.3 release cycle with new epics presentation by the product owner and scrum client followed by a full day of backlog grooming and road mapping for the next 6 months.
Moreover, this event is an occasion for developers to meet all in one place and exchange views and issues.

20170406_163424

20170406_153750.jpg

NRP Install Party

Date: 04.04.2017
Venue: Fortiss, Munich
Duration: 2 days

Selected SP10 scientists from all over Europe came to Fortiss for hands-on sessions with NRP developers and advanced help from scientific experts for their simulated experiments. With one expert dedicated to helping one researcher, we were able to adapt these user experiments to our platform while using it to its full potential during these two days in Munich.
In a continuing effort to use scientific requirements as the driving force behind our platform development, we were able to use this event to collect feature requests and problems to be addressed.

20170404_134219

Japan-EU Workshop in Geneva

In conjunction with the symposium „Building Bodies for Brains & Brains for Bodies“ on June 16 we will have our 3rd Japan-EU Workshop on Neurorobotics at the same location the day before.
speakers include:
Yoshihiko Nakamura (University of Tokyo)
Satoshi Oota (RIKEN)
Poramate Manoonpong (University of Southern Denmark),
Aaron Sloman (University of Birmingham)
For the past two workshops in this series in 2015 and 2016 see:
hbp_small

Developer Workshop in Pisa

Date: 17.10.2016
Venue: Pisa
Duration: 2 days

The developer workshop in Pontedera brought together the developers of our subproject. In a 2 day workshop, the recent Summit was discussed to draw conclusions from the feedback we had received.
Addressing the most pressing issues that had been discussed during the Summit was only part of that workshop. Another important aspect was to align the development with what users actually need by inviting a couple of researchers and making sure our plans were in alignment with theirs.
Then, working together, our roadmap was refined to ensure good progress for the months to come.hbp_small

NEST Workshop in Karlsruhe

Date: 03.11.2016
Venue: FZI, Karlsruhe
Duration: 2 days

The NEST workshop in Karlsruhe received a lot of attention with significantly more attendees than expected.

Presentations covered topics such as
– NEST: Current Developments (Hans Ekkehard Plesser & Susanne Kunkel)
– Neurorobotics and NEST in the HBP (Marc-Oliver Gewaltig)
– Modeling the Cerebellum (Egidio d’Angelo)
– Cerebellum Modelling with NEST (Alberto Antonietti)
– Interfacing the Neurorobotics Platform using MUSIC (Martin Schulze)
– The Potjans-Diesmann local microcircuit model using different neuron classes for excitatory and inhibitory neurons (Nilton Kamiji)
– Interactive visualization and steering of structural plasticity in NEST (Sandra Diaz)
– NestMC: A new multi-compartment neuron simulator (Alex Peyser)
– NEST, MUSIC, and ROS (Philipp Weidel)
– Porting WaveScales to NEST (Elena Pastorelli)

 

You can find more on the workshop website here: https://indico-jsc.fz-juelich.de/event/26/

HBP_NEST_cutfzi_logo_square

Hack Roboy!

Hack Roboy is a robotics hackathon taking place in Garching on April, 28 – May, 1.

We provide our robots and tech hardware for you to create ingenious robotics projects without any topic or purpose constrains. Hack Roboy is a conjunction point for people passionate about engineering, it’s a place where innovative ideas are getting born and implemented.

Learn more and apply at www.hackroboy.com!

HackRoboy.jpg

New publication

@article{knoll2017neurorobotics,
author = {A. Knoll, F. Röhrbein, A. Kuhn, M. Akl, K. Sharma},
year = {2017},
title = {Neurorobotics},
journal = {Informatik-Spektrum},
issn = {0170-6012},
doi = {10.1007/s00287-017-1031-8},
link= {https://dx.doi.org/10.1007/s00287-017-1031-8},
abstract = {The field of neurorobotics encompasses the intersection of computational neuroscience and robotics. The TUM-led neurorobotics subproject of the Human Brain Project is actively researching concepts within the field and developing the tools to allow researchers to fully explore simulated robotics driven by computational neuroscience models. Further, the development of biologically inspired, tendon-driven robotics systems provides a unique research platform. These efforts allow researchers to explore the interesting space from computational neuroscience to intelligent robots and back.}
}

Workshop at ERF2017

Date: 22.03.2017
Venue: Edinburgh
Duration: 3 Days

After the acceptance of our workshop proposal we presented the NRP during our session “Introduction to the HBP Neurorobotics Platform” at ERF2017 in Edinburgh and were able to engage in lively discussions about the platform, our roadmap and neurorobotics in general.

HBP_Primary_RGB_BlackText

NRP Install Party

After the successful user workshop in January, it is now time to guide researchers in a small hands-on workshop through the local installation of our platform. Once this is done, they will have the chance to explore the NRP’s many features and use it to its full potential while being guided by experienced developers. At the end, the participants should be able to run their own, customized experiments on our platform.

If this concept proves to be successful, we will organize more events of that kind.

 

mouse.PNG

Developer Workshop at Fortiss

The developer team will release the 1.2 version of the NRP end of March. On 6/7 April, it will meet in a developer workshop at Fortiss, Munich, to define the work plan of the next release cycle (1.3), discuss the roadmap and major technical questions. User support will be part of the discussions.

 

 

fortiss_square

Brain Awareness Week

Next week is Brain Awareness Week, which goes to show once more just how important our work in the HBP is in working towards a better understanding of our brain.
bernstein-network-computational-neuroscience.jpeg.png
“The Brain Awareness Week (BAW) is the global campaign to increase public awareness of the progress and benefits of brain research.”

 

 

Image from http://www.research-in-germany.org/mediaObject/en/Logos-News/bernstein-network-computational-neuroscience/original/bernstein-network-computational-neuroscience.jpeg.png

New publication

@ARTICLE{10.3389/fnbot.2017.00016,

author={G. Urbain, J. Degrave, B. Carette, J. Dambre, F. wyffels},

title={Morphological Properties of Mass-Spring Networks for Optimal Locomotion Learning},

journal={Frontiers in Neurorobotics, Vol. 11},

pages={16},

year={2017},

link={http://journal.frontiersin.org/article/10.3389/fnbot.2017.00016},

DOI={10.3389/fnbot.2017.00016},

ISSN={1662-5218},

HBP Exhibition

date: 29.11.2016
venue: European Parliament
duration: 2 days
The first Human Brain Project exhibition took place at the European Parliament on 29 – 30 November 2016.

hbp_booklet.png

The HBP exhibition highlights the unique contributions HBP is making to brain research and how these contributions are benefiting European science, competitiveness and society and positioning Europe promanently among the growing number of large-scale brain initiatives worldwide. The exhibition was created as part of HBP’s participation in the workshop Understanding the Human Brain – A New Era of Big Neuroscience, organised by the European Parliament’s Science Technology Options Assessment group (STOA) on 29 November 2016.

The text and image above are taken from a booklet that you can find here: stoa_booklet-v-final_digital

Experienced Simulation Software Engineer – Neurorobotics

TUM_logo_square.pngembedded_systemshbp_small

date = {19.01.2017},
start = {as soon as possible},
type = {perm},
contactName = {Florian Röhrbein},
contactMail = {florian.roehrbein@in.tum.de},
background = {The Human Brain Project (HBP) is an ambitious, large-scale, research initiative funded by the European Commission with global recognition. More than a 100 research institutes from various disciplines all over Europe cooperate intensively to achieve a multi-level, integrated understanding of brain structure and function through the development and use of information and communication technologies (ICT). The project will run for about 10 years and during this time six ICT platforms will be developed. The Neurorobotics Platform (NRP) is a web-based platform for the design and performance of neurorobotics experiments, and is built under the direction of Prof. Alois Knoll. It grants neuroscientists easy access to state-of-the-art simulators: spiking neural networks, robotics and physics. These simulators are connected together and coordinated within a closed loop. They run on high performance computing resources and on neuromorphic hardware. The NRP also provides tools to create neurorobotics experiments, namely designers for the creation of brain-body interfaces, virtual worlds and robot models.},
description = {To strengthen our Neurorobotics team at TUM we are looking for an Experienced Simulation Software Engineer (Neurorobotics) with a Master’s degree in software engineering or similar (Bachelors if proven relevant professional experience) and a minimum of 3 years of experience and successful development track record for simulation-based software projects. Preferredly, the candidate will have experience with Agile Methodologies and SaaS environmen, be familiar withPython, HTML, Javascript languages; WebGL, ThreeJS, AngularJS frameworks and have experience with neural networks, NEST simulator. We offer a prestigious project of global prominence in simulation-based neuroscience, a dynamic, interdisciplinary, and motivated team. Furthermore, we offer remuneration in line with the current German public service salary scale TV-L and a modern working environment based at the TUM Campus in Garching / Munich. Starting date ASAP, applicants should submit a cover letter and a detailed CV in PDF format with file name “_HBP_SW_cover” and “_HBP_ SW_CV” to florian.roehrbein@in.tum.de},
requirements = {# Experience in robotics on the software layer or 3D simulation development
# Good familiarity with 3D simulators / libraries and either ROS, Gazebo or other robotic simulator
# Strong experience in C++ or other object oriented programming language
# Strong motivation to learn the other languages / technologies that we use, in particular spiking neural networks
# Very good familiarity with team work and modern software development life-cycle
# Flexible, good team player and fluent in written and spoken English, German a plus}
tasks = {# Development of our graphical Robot Designer application (Python / Blender / Javascript)
# Gazebo plugins development (C++, ROS)
# Frontend development of rich, highly interactive 3D web interfaces (HTML5, CSS, Javascript)
# Backend development at the brain simulator level (Python, C++ / MPI)
# All aspects of the modern software development lifecycle: unit testing, continuous integration, version control, debugging, documentation
# Support to the users for setting up new neurorobotics experiments},

pdf = {https://hbpneurorobotics.files.wordpress.com/2017/01/experienced-simulation-software-engineer-neurorobotics.pdf}

Publication

@ARTICLE{10.3389/fnbot.2017.00002,

author={E. Falotico, L. Vannucci, A. Ambrosano, U. Albanese, S. Ulbrich, J. Vasquez, G. Hinkel, J. Kaiser, I. Peric, O. Denninger, N. Cauli et al.},
title={Connecting artificial brains to robots in a comprehensive simulation framework: the Neurorobotics Platform},
journal={Frontiers in Neurorobotics, Vol. 11},
year={2017},
link={http://journal.frontiersin.org/article/10.3389/fnbot.2017.00002},
}

First NRP User Workshop

Date: 11.01.2017
Venue: TU München
Duration: 1 Day

With the NRP running very smoothely, it was now time to invite actual external users to show our platform to them. A second part of this workshop was to understand their research requirements and get feedback from them. This helped us to understand what we need to implement in order for them to really use our product.

Below, you can see an impression from one of the presentations.

20170112_103307.jpg

Publication in a Supplement to Science on Brain-Inspired Intelligent Robotics

The article “Neurorobotics: A strategic pillar of the Human Brain Project” was released in a Science Supplement on “Brain-inspired intelligent robotics: The intersection of robotics and neuroscience”, explaining the importance of our subproject and its research.

Read it here: http://www.sciencemag.org/sites/default/files/custom-publishing/documents/Brain-inspired-robotics-supplement_final.pdf?_ga=1.158217660.785230381.1481986150

science.jpg

(image source: http://www.sciencemag.org/sites/all/themes/science/images/facebook-share.jpg)

Publication

@article{Knoll2016,
title={Neurorobotics: A strategic pillar of the Human Brain Project},
author={A. Knoll, M.-O. Gewaltig},
journal={Supplement to Science},
year={2016},
link = {http://www.sciencemag.org/sites/default/files/custom-publishing/documents/Brain-inspired-robotics-supplement_final.pdf}
}

 

Publication

@inproceedings{kaiser2016,
title={Towards a Framework for End-To-End Control of a Simulated Vehicle with Spiking Neural Networks},
author={J.Kaiser, J.C. Tieck, J. Hubschneider, P. Wolf, M. Weber, M. Hoff, A. Friedrich, K. Wojtasik, A. Roennau, R. Kohlhaas, R. Dillmann, J. Zöllner},
journal={International Conference on Simulation, Modeling, and Programming for Autonomous Robots},
year={2016},
pages={Forthcoming},
organization={IEEE},
link={https://www.researchgate.net/publication/309558315_Towards_a_framework_for_end-to-end_control_of_a_simulated_vehicle_with_spiking_neural_networks}
}

Assistant to the Software Development Director

TUM_logo_square.pngembedded_systems

hbp_small

date = {13.12.2016},
start = {15.02.2017 or later},
type = {perm},
contactName = {Florian Röhrbein},
contactMail = {florian.roehrbein@in.tum.de},
background ={The Human Brain Project (HBP) is an ambitious large-scale research  initiative funded by the European Commission with a high worldwide visibility. About 100 research institutes from different disciplines all over Europe cooperate intensively to  achieve a multi-level, integrated understanding of brain structure and function through the development and use of information and communication technologies (ICT). The project will run for about 10 years and during this time six ICT platforms will be developed. The Neurorobotics Platform (NRP) is a web-based platform for the design and performance of neurorobotics experiments, and is built under the aegis of Prof. Alois Knoll. It grants  neuroscientists easy access to state-of-the-art simulators: spiking neural networks,  robotics and physics. These simulators are connected together and coordinated within a closed loop. They run on high performance computing resources and on neuromorphic hardware. The NRP also provides tools to create neurorobotics experiments, namely designers for the creation of brain-body interfaces, virtual worlds and robot models. To strengthen our Neurorobotics team at TUM we are looking for an Assistant to the Software Development Director.},
description = {We are looking for someone with a Ph.D. or similar experience in a subject which is relevant to the direction of the project such as robotics, autonomous systems, computer science, mathematics, engineering or a related field. We offer a responsible position with interesting and challenging tasks in an interdisciplinary scientific and management team, Worldwide networking opportunities with leading robotics and neuroscience experts, The opportunity to grow the role and the responsibility through the development of new project opportunities, Remuneration in line with the current German public service salary scale TV-L, level E13/14, A modern working environment based at the TUM Campus in Garching / Munich. Applicants should submit a cover letter and a detailed CV in PDF format only, with file name “<surname>_HBP_Assistant_cover” and “<surname>_HBP_ Assistant_CV” electronically to florian.roehrbein@in.tum.de. Duration of contract: 31.03.2018. See assistant_to_the_software_development_director for the pdf version.

},
tasks = {# Supporting the Software Development Director of the HBP
# Carrying out project related work including work package related tasks and reporting
# Developing concepts for future directions for software adaptation and improvement of
development processes of HBP software as a whole
# Supervision of scientific advancement of the software tools and processes for the whole of HBP},
requirements = {# Very good knowledge of software engineering, robotics and model-based development
# Experience in developing robotics software, e.g., kinematics/dynamics, control of actuators/sensors, world models, ontologies, distributed systems
# Fluency in spoken and written German and English
# High motivation and willingness to work in an international and interdisciplinary team
# Willingness to travel}

pdf = {https://hbpneurorobotics.files.wordpress.com/2016/12/assistant_to_the_software_development_director.pdf}

HBP Summit 2016

Date: 12.10.2016
Venue: Florence

Duration: 3 days

The HBP held its 4th annual Summit on 12 to 15 October in the vibrant city of Florence, Italy. The event was hosted by Laboratorio Europeo di Spettroscopie Non Lineari (European Laboratory for Non-Linear Spectroscopy; LENS), one of the key European institutions for light wave research, which has been a centre of excellence at the University of Florence since 1991.
The 2016 HBP was launched with ‘Open Day’ to enable dialogue and collaboration between the HBP, other scientific communities and the public. The Open Day took place on 12 October—for more information, please see the Open Day webpage.

Nearly 450 members of the HBP consortium, representatives of HBP’s first Partnering Projects, National Research Funding Agencies, and representatives from Italy’s national research council participated in the Summit. The programme featured a diverse mixture of plenary sessions, parallel working group meetings, a poster session with over 100 posters and networking opportunities. The sessions covered an array of scientific themes, a town hall meeting, an introduction to HBP’s first Partnering Projects, a young investigator’s plenary session, and a panel debate on “the Conscious Computer.” In a dedicated session on “the local context”, representatives of Italy’s National Research Council, the University of Florence and the Ministry of Research and Education provided insights about the role of the Flagship and benefits of a large science project for science and research in Italy. For more information on the sessions, please see the programme.

Florence, the capital of the Tuscany region of Italy, is considered one of the world’s most beautiful cities. It is particularly noted for its Renaissance art and architecture, and its historic centre was declared a World Heritage Site by UNESCO in 1982.

The HBP was proud to hold its Summit in such a magnificent location.

summit.jpeg

(Text and image from https://www.humanbrainproject.eu/hbp-summit-2016)

Understanding the human brain

Date: 29.11.2016
Venue: European Parliament Brussels

At the event “Understanding the human brain – a new era of big neuroscience” hosted by the European Parliament in Brussels this week, the HBP sent delegates to present our work. The SP10 did not miss out on this opportunity either.

The picture shows Prof. Alois Knoll with Tetsuo Yamamori and Roboy, a cutting edge technology robot in the HBP.

brussels_29-11

Click here to learn more about Roboy: http://roboy.org/

Click this link to learn more about the event: http://www.europarl.europa.eu/stoa/cms/home/workshops/neuroscience2016

Neuroscience 2016 in San Diego

The SP10 will have a booth in San Diego to present our platform to the neuroscience community.

Learn more about the event here: https://www.sfn.org/annual-meeting/neuroscience-2016

“SfN’s 46th annual meeting is the premier venue for neuroscientists to present emerging science, learn from experts, collaborate with peers, explore new tools and technologies, and advance careers.

Neuroscience 2016 will take place November 12-16 at the San Diego Convention Center. Join more than 30,000 colleagues from more than 80 countries at the world’s largest marketplace of ideas and tools for global neuroscience.”

sfn.png

(Text and image from the link above)

Design of a Robot Mouse

description = {Currently, running, monitoring and debuggin neural networks on SpiNNaker is a complex process based on many different tools. A task-specific prototype for interactive development ad debugging is already available. Your task will be to start extending this prototype to an Integrated Development Environment (IDE) based on a thorough requirements analysis.(Photo: http://apt.cs.manchester.ac.uk/projects/SpiNNaker/hardware/) },

background = {The Neurorobotics subproject of the Human Brain Project is developing the tools and the theory to connect state of the art simulations of highly realistic brain models to robots. A central goal of this effort is to enable meaningful interaction between the simulated brains and the environment through realistic bodies. As stated in the theory of embodiment, the structure and the physical properties of these bodies have a huge impact on brain development and neural information processing. For example, the specific properties of the morphology of human and animal bodies like softness and compliance simplify the control task whcih has to be computed by the brain. With intelligent co-design of robot bodies and brain inpired neural control systems being a promising approach for both robotics and neuroscience, we are currently designing a low-cost biomimetic robot mouse.},
type = {student},

furtherLinks = {# http://www.humanbrainproject.eu
# http://www.neurorobotics.net
# Pfeifer, R. & Bongard, J. (2006). How the Body Shapes the Way We Think: A New View of Intelligence. MIT Press.},

requirements = {# Interest in biomimetic robotics
# Good knowledge of CAD (depending on the selected task)
# Experience with rapid prototyping tools may be of advantage},

date = {14.10.2016},
start = {Now},
type = {student},
contactName = {Florian Walter},
contactMail = {florian.walter@tum.de},
pdf = {https://hbpneurorobotics.files.wordpress.com/2016/10/robot_mouse.pdf}

tum_logo_squareembedded_systems

Sample student job offer

TUM_logo_square.pngembedded_systems

date = {14.10.2016},
start = {Now},
type = {student},
contactName = {Florian Röhrbein},
contactMail = {florian.roehrbein@in.tum.de},

background = {Spiking neural networks are detailed models of the biological neural circuitry found in the brains of humans and animals. Unlike highly simplified neuron models used in artificial neural networks, spiking neurons exhibit complex dynamics and exchange information via discrete impulses called spikes. In the Neurorobotics subproject of the Human Brain Project, researchers develop the tools required to connect highly realistic spiking neuron-based models of the brain to robots. However, standard PCs are too slow to execute the models in real-time. Controlling robots based on on the outputs of simulated brains therefore requires specialized neuromorphic hardware like SpiNNaker which is tailored to the simulation of spiking neural networks. The SpiNNaker architecture is based on standard ARM cores, but features an efficient hardware-based modular routing system whcih transmits spikes between different chips and enables the simulation of spiking neural networks in biological real-time},
description = {Currently, running, monitoring and debuggin neural networks on SpiNNaker is a complex process based on many different tools. A task-specific prototype for interactive development ad debugging is already available. Your task will be to start extending this prototype to an Integrated Development Environment (IDE) based on a thorough requirements analysis.(Photo: http://apt.cs.manchester.ac.uk/projects/SpiNNaker/hardware/) },
requirements = {- master’s degree in mathematics, computer science, physics, or similar
– knowledge in graph theory and its application to measured data
– very good programming skills
– fluent in written and spoken English
– ability to work independently as well as in international teams
– knowledge in (computational) neuroscience and neural networks is helpful
– Matlab and Python skills are helpful},
tasks = {- taks1
– task2
– task3}

Publication

@inproceedings{kirtay2016sequential,
title={Sequential Decision Making Based on Emergent Emotion for a Humanoid Robot},
author={Kirtay, Murat and Vannucci, L. and Falotico, E. and Oztop, Erhan and Laschi, C.},
booktitle={2016 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
link = {http://muratkirtay.com/pdfs/humanoids2016_Sequential.pdf},
pages={},
year={To appear 2016},
organization={IEEE}
}

Publication

@ARTICLE{Ambrosano201616,
title={Retina color-opponency based pursuit implemented through spiking neural networks in the neurorobotics platform},
author={Ambrosano, A., Vannucci, L., Albanese, U., Kirtay, M., Falotico, E., Martínez-Cañada, P., Hinkel, G., Kaiser, J., Ulbrich, S., Levi, P., Morillas, C., Knoll, A., Gewaltig, M.-O., Laschi, C.},
link = {http://muratkirtay.com/pdfs/LivingMachines2016_Retina.pdf},
journal={Lecture Notes in Computer Science},
year={2016},
volume={9793},
pages={16-27},
doi={10.1007/978-3-319-42417-0_2},
document_type={Conference Paper},
}

Publication

@ARTICLE{Vannucci2016341,
author={Vannucci, L., Falotico, E., Tolu, S., Dario, P., Lund, H.H., Laschi, C.},
title={Eye-head stabilization mechanism for a humanoid robot tested on human inertial data},
link = {http://muratkirtay.com/pdfs/LivingMachines2016EyeHead.pdf},
journal={Lecture Notes in Computer Science},
year={2016},
volume={9793},
pages={341-352},
doi={10.1007/978-3-319-42417-0_31},
document_type={Conference Paper},
}

Publication

@ARTICLE{Kirtay2016119,
author={Kirtay, M., Falotico, E., Ambrosano, A., Albanese, U., Vannucci, L., Laschi, C.},
title={Visual target sequence prediction via hierarchical temporal memory implemented on the iCub robot},
link = {http://muratkirtay.com/pdfs/LivingMachines2016_HTM.pdf},
journal={Lecture Notes in Computer Science},
year={2016},
volume={9793},
pages={119-130},
doi={10.1007/978-3-319-42417-0_12},
document_type={Conference Paper},
}

Publication

@CONFERENCE{Vannucci201625,
author = {Vannucci, L., Tolu, S., Falotico, E., Dario, P., Lund, H.H., Laschi, C.},
title = {Adaptive gaze stabilization through cerebellar internal models in a humanoid robot},
journal = {Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics},
year = {2016},
volume = {2016-July},
pages = {25-30},
doi={10.1109/BIOROB.2016.7523593},
document_type={Conference Paper},
link={http://ieeexplore.ieee.org/document/7523593/}
}

More for less – Energy Efficiency in Neural Locomotion – Workshop

Date: 21.09.2016
Venue: Berlin

During September 21-23, 2016 as part of the Bernstein Conference in Berlin, the workshop for “Energy Efficiency in Neural Locomotion” (Stratmann, Röhrbein) will take place.

The following links will give you more detail about the event.

http://www.in.tum.de/index.php?id=6814

www.bernstein-conference.de
http://www.nncn.de/en/bernstein-conference/2016/satellite-workshops/more-for-less-energy-efficiency-in-neural-locomotion-control-stratmann-rohrbein-1

MyoArm – Now available from GI

General Interfaces is proud to be able to offer the MyoArm: Based on building blocks initially developed by the Roboy and Myorobotics research projects, the MyoArm is an anthropomimetic, tendon-driven 5 DOF robotic arm for research. Driven by 12 to 13 MyoMuscles the arm provides a great research platform for neurally inspired control.

myoarm overview

Being fully open source in both hard- and software it can be controlled and extended freely. The software is based on ROS and the ros_control framework, while the hardware uses the modular MyoRobotics toolkit, allowing reconfiguration as required.

Full specification can be found in the attached pdf: MyoArm-Flyer

The MyoArm prototype configuration already played an essential role in research

Continue reading “MyoArm – Now available from GI”

Permanent job offer template

TUM_logo_square.pngdlrlundembedded_systems

date = {14.10.2016},
start = {2 Months after acceptance},
type = {perm},
contactName = {Florian Röhrbein},
contactMail = {florian.roehrbein@in.tum.de},
background = {Background on the project},
description = {We are seeking an enthusiastic and talented PhD student to join the Robotics and Embedded Systems group in the Department of Informatics at the Technical University of Munich (TUM). The successful candidate is supposed to extract the adjacency matrix describing the functional connectivity of the spinal cord circuitry. While our general project is based on electrophysiological patch clamp measurements, the candidate will focus on graph theoretical analysis. The results are expected to be integrated into the Human Brain Project, a €1bn flagship project of the European Commission, as an interface that connects brain simulations with robotic platforms. The student will work in an enriching, interdisciplinary, and international collaborative framework at the leading department of informatics in Germany (cf. the Shanghai and the QS ranking). Partners of our project include the chair of Sensor Based Robotic Systems and Intelligent Assistance Systems at TUM, members of The Human Brain Project, and the Institute of Robotics and Mechatronics at the German Aerospace Center (DLR). The student is furthermore expected to complete some of his work in the Department of Experimental Medical Science at Lund University. We offer a competitive funding at 100% on the German employee scale TV-L 13. Interested applicants should provide florian.roehrbein@in.tum.de with a cover letter, a CV, and the contact information of reference letter writers. Please don’t hesitate to contact us in case of questions. },
requirements = {# master’s degree in mathematics, computer science, physics, or similar
# knowledge in graph theory and its application to measured data
# very good programming skills
# fluent in written and spoken English
# ability to work independently as well as in international teams
# knowledge in (computational) neuroscience and neural networks is helpful
# Matlab and Python skills are helpful}
tasks = {# Supporting the Software Development Director of the HBP
# Carrying out project related work including work package related tasks and reporting
# Developing concepts for future directions for software adaptation and improvement of
development processes of HBP software as a whole
# Supervision of scientific advancement of the software tools and processes for the whole of HBP},

New publication!

@article{test,
author = {G. Hinkel, H. Groenda, S. Krach, L. Vannucci, O. Denninger, N. Cauli, S. Ulbrich, A. Roennau, E. Falotico, M.-O. Gewaltig, A. Knoll, R. Dillmann, C. Laschi and R. Reussner},
title = {A Framework for Coupled Simulations of Robots and Spiking Neuronal Networks},
journal = {Journal of Intelligent & Robotic Systems manuscript},
year = {2016},
link = {http://www6.in.tum.de/Main/Publications/HBP2016Framework.pdf}
}

Publication Announcement

@article{richter2016musculoskeletal,
title={Musculoskeletal Robots: Scalability in Neural Control},
author={C. Richter, S. Jentzsch, R. Hostettler, J. Garrido, E. Ros, A. Knoll, F. Röhrbein, P. van der Smagt, and J. Conradt},
journal={IEEE Robotics & Automation Magazine},
year={2016},
doi={10.1109/MRA.2016.2535081},
  issn={1070-9932},
volume={23},
issue={4},
pages={128-137},
link={http://ieeexplore.ieee.org/document/7553551/},
}

Publication

title = {Computation by time},
link = {http://link.springer.com/article/10.1007%2Fs11063-015-9478-6},
author = {Florian Walter, Florian Röhrbein, and Alois Knoll},
journal = {Neural Processing Letters, pages 1-22},
year = {2015}

Publication

title = {Learning Spiking Neural Controllers for In-Silico Navigation Experiments},
link = {https://mediatum.ub.tum.de/doc/1303900/1303900.pdf},
author = {Mahmoud Akl, Florian Walter and Florian Röhrbein},
journal = {Technical Report (TUM)},

Publication

title = {A Domain-Specific Language (DSL) for Integrating Neuronal Networks in Robot Control},
link = {http://neurorobotics.net/fileadmin/user_upload/PDF/A_Domain-Specific_Language_for_Integrating_Neuronal_Networks_in_Robot_Control.pdf},
author = {Georg Hinkel, Henning Groenda, Lorenzo Vannucci, Oliver Denninger, Nino Cauli, and Stefan Ulbrich},

Publication

title = {Real-time Cerebellar Control of a Compliant Robotic Arm},
link = {http://neurorobotics.net/fileadmin/user_upload/PDF/Poster_Real_time_Cerebellar_Control_of_a_Compliant_Robotic_Arm.pdf},
author = {Christoph Richter, Sören Jentzsch, Florian Röhrbein, Patrick van der Smagt, and Jörg Conradt},
journal = {BCCN conference, Heidelberg},
year = {2015}

Publication

title = {A visual tracking model implemented on the iCub robot as a use case for a novel neurorobotic toolkit integrating brain and physics simulation},
author = {L.Vannucci, A. Ambrosano, N. Cauli, U. Albanese,· E. Falotico, S. Ulbrich,  L. Pfotzer, G.Hinkel, O.Denninger, D.Peppicelli, L. Guyot, A. Von Arnim, S. Deser, ·P. Maier, · R. Dillmann, G. Klinker, P. Levi, A. Knoll, · M.-O. Gewaltig, C. Laschi},
journal = {Proceedings of the international Conference on Humanoid Robotics, Seoul, 2015},

Publication

title = {A sparse reformulation of the Green’s function formalism allows efficient simulations of morphological neuron models},
author = {Wybo, W., Boccalini, D., Torben-Nielsen, B., & Gewaltig, M. O. },
journal = {Accepted to appear in Neural Computation journal},

Publication

title = {A bio-inspired model of visual pursuit combining feedback and predictive control for a humanoid robot},
author = {Egidio Falotico, Lorenzo Vannucci, Nicola Di Lecce, Paolo Dario, Cecilia Laschi},
journal = {International Conference on Advanced Robotics (ICAR) 2015},

Publication

title = {Integrating feedback and predictive control in a bio-inspired model of visual pursuit implemented on a humanoid robot},
author = {Lorenzo Vannucci, Egidio Falotico, Nicola Di Lecce, Paolo Dario, Cecilia Laschi},
journal = {International conference on biomimetic and biohybrid systems (Living Machines) 2015},

Publication

title = {Neurorobotics – New Perspectives in the Synergy between Neuroscience and Robotics},
author = {Cecilia Laschi, Florian Walter, Egidio Falotico, Florian Röhrbein},
journal = {Workshop at the International Conference on Biomedical Robotics and Biomechatronics (Biorob), June 26th},

Publication

title = {A Framework for Coupled Simulations of Robots and Spiking Neuronal Networks},
author = {G. Hinkel, H. Groenda, L. Vannucci, O. Denninger, N.Cauli, S. Ulbrich, E. Falotico, A. Roennau, M. Gewaltig, A. Knoll and R. Dillmann, C. Laschi, R. Reussner},
journal = {Journal Intelligent & Robotic Systems, Submitted},

Neurorobotics Workshop at IROS, Daejeon, Korea

Date: 10.10.2016
Venue: Daejeon, Korea

At IROS 2016 in Daejeon, Korea, there will be an HBP workshop titled “Tutorial for IEEE/RSJ International Conference on Intelligent Robots and Systems” targeting various audiences like students, engineers and researchers of the fields of robotics and or computational neuroscience alike as well as the fields of machine learning and cognitive robotics.

More information can be found here: https://www.fzi.de/en/research/projekt-details/human-brain-project/iros-2016-neurorobotics-workshop/

 

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