Robotics seminars

It is common for animals to use self-generated movements to actively sense the surrounding environment. For instance, rodents rhythmically move their whiskers to explore the space close to their body. The mouse whisker system has become a standard model to study active sensing and sensorimotor integration through feedback loops. In this work, we developed a bioinspired spiking neural network model of the sensorimotor peripheral whisker system, modelling trigeminal ganglion, trigeminal nuclei, facial nuclei, and central pattern generator neuronal populations. This network was embedded in a virtual mouse robot, exploiting the Neurorobotics Platform, a simulation platform offering a virtual environment to develop and test robots driven by brain-inspired controllers. Eventually, the peripheral whisker system was properly connected to an adaptive cerebellar network controller. The whole system was able to drive active whisking with learning capability, matching neural correlates of behaviour experimentally recorded in mice.

Henrik I. Christensen examines the scientific and engineering challenges involved in building intelligent robots that assist people. Advances in materials, embedded systems, sensors and machine learning support new combinations of perception, planning and actuation. The lecture considers the models underlying robot perception, planning and control, and how these components must be integrated into useful systems. Applications include customized manufacturing, transportation, security, support for older people and people with disabilities, and safer work for first responders in dangerous environments. Christensen discusses major research trends and the potential influence of these systems on work, home and leisure.