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Self-Balancing Robot Leg, Ben Bolen
Self-Balancing Robot Leg, Ben Bolen
Student Research Symposium
Research in the Agile and Adaptive Robotics Lab involves the creation of biomimetic robots. To this end, we developed a self-balancing robot leg actuated with braided pneumatic actuators (BPAs)—a type of pneumatic artificial muscle. These BPAs, akin to human muscles, exhibit properties such as high strength-to-weight ratio and tunable passive stiffness. An Inertial Measurement Unit (IMU) was placed on top of the tibia for feedback and the tibia and foot were connected with a hinge joint. The orientation of the ankle joint was controlled with an Arduino microcontroller sending commands to the proportional pressure valves supplying the BPAs. Leg balance …
Computational Capabilities Of Leaky Integrate-And-Fire Neural Networks For Liquid State Machines, Amin Almassian, Christof Teuscher
Computational Capabilities Of Leaky Integrate-And-Fire Neural Networks For Liquid State Machines, Amin Almassian, Christof Teuscher
Student Research Symposium
We analyze the computational capability of Leaky Integrate-and-Fire (LIF) Neural Networks used as a reservoir (liquid) in the framework of Liquid State Machines (LSM). Maass et. al. investigated LIF neurons in LSM and their results showed that they are capable of noise-robust, parallel, and real-time computation. However, it still remains an open question how the network topology affects the computational capability of a reservoir. To address that question, we investigate the performance of the reservoir as a function of the average reservoir connectivity. We also show that the dynamics of the LIF reservoir is sensitive to changes in the average …