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parallel controllers for bio-inspired machines, ready to be implemented
on dedicated neuromorphic hardware devices to
further increase the autonomy of robotic systems.
References
[1] P. Manoonpong, L. Patanè, X. Xiong, I. Brodoline, J. Dupeyroux, S.
Viollet, P. Arena, and J. R. Serres, " Insect-inspired robots: bridging
biological and artificial systems, " Sensors, vol. 21, no. 7609, 2021.
[2] M. Bykhovskaia and A. Vasin, " Electrophysiological analysis of
synaptic transmission in drosophila, " Wiley Interdiscip. Rev. Dev.
Biol., vol. 6, no. 5, Sep. 2017.
[3] D. Grover, T. Katsuki, J. Li et al., " Imaging brain activity during
complex social behaviors in drosophila with Flyception2, " Nat.
Commun., vol. 11, no. 623, 2020.
[4] P. Arena, M. Calí, L. Patané, A. Portera, and R. Strauss, " A flyinspired
mushroom bodies model for sensory-motor control
through sequence and subsequence learning, " Int. J. Neural Syst.,
vol. 26, no. 6, Sep. 2016.
[5] W. Maass, T. Natschläger, and H. Markram, " Real-time
computing without stable states: a new framework for neural
computation based on perturbations, " Neural Comput., vol. 14, pp.
2531-2560, 2002.
[6] S. Schliebs and N. K. Kasabov, " Evolving spiking neural
network-a survey, " Evol. Syst., vol. 4, pp. 87-98, 2013.
[7] P. Arena, M. P. Cusimano, L. E. Meli, S. Taffara, L. Patanè, and P.
Manoonpong, " Ground reaction force estimation in a quadruped
robot via liquid state networks, " in Proc. Int. Joint Conf. Neural
Networks (IJCNN), Jul. 2022.
[8] A. Lazar, G. Pipa, and J. Triesch " Sorn: a self-organizing recurrent
neural network, " Front. Computat. Neurosci., vol. 3, no. 23, 2009.
[9] L. Righetti and A. J. Ijspeert, " Pattern generators with sensory
feedback for the control of quadruped locomotion, " in Proc. 2008
IEEE Int. Conf. Robotics and Automation. pp. 819-824, 2008.
[10] A. Karatsidis, G. Bellusci, H. Schepers, M. de Zee, M. Andersen,
and P. Veltink, " Estimation of ground reaction forces and
moments during gait using only inertial motion capture, " Sensors,
vol. 17, no. 552, 2016.
[11] J. Hu and R. Xiong, " Contact force estimation for robot
manipulator using semiparametric model and disturbance kalman
filter, " IEEE Trans. Indus. Electron., vol. 65, pp. 3365-3375, 2018.
[12] M. Calandra, L. Patanè, T. Sun, P. Arena, and P. Manoonpong,
" Echo state networks for estimating exteroceptive conditions
from proprioceptive states in quadruped robots, " Frontiers in
Neurorobotics, vol. 15, 2021.
[13] N. J. Strausfeld, " Organization of the honey bee mushroom body:
representation of the calyx within the vertical and gamma lobes, "
J. Comparative Neurology, vol. 450, no. 1, pp. 4-33, 2002.
[14] L. Patanè, R. Strauss, and P. Arena, " Learning spatio-temporal
behavioural sequences, " in Nonlinear Circuits and Systems for
Neuro-inspired Robot Control. Cham, Switzerland: SpringerBriefs
in Applied Sciences and Technology, 2018.
[15] S. Zhang, K. Bartsch, and M. Srinivasan, " Maze learning by
honeybees, " Neurobiology of Learning and Memory, vol. 66, no. 3,
pp. 267-282, 1996.
[16] P. Arena, F. Di Pietro, A. Li Noce, S. Taffara and L. Patanè,
" Assessment of navigation capabilities of mini cheetah robot for
monitoring of landslide terrains, " in Proc. 2021 IEEE 6th Int. Forum
Research and Technol. for Society and Industry (RTSI), pp. 540-545,
2021.
[17] M. Bouvier, A. Valentian, T. Mesquida, F. Rummens, M. Reyboz,
E. Vianello, and E. Beigne, " Spiking neural networks hardware
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Comput. Syst., vol. 15, no. 2, 2019.
Paolo Arena (paolo.arena@unict.it) is Full Professor of system
theory and biorobotics at the University of Catania, Italy
where he received a Ph.D. in electrical engineering in 1994.
His research interests include adaptive and learning systems,
biorobotics, nonlinear systems, neural networks, cellular neural
networks, collective behavior in living and artificial neural
structures, and cognitive systems. He is a Senior Member of
the IEEE and was the coordinator of several international projects
including EU-funded project SPARK and SPARK II.
Alessia Li Noce (alessia.linoce@phd.unict.it) is a Ph.D. Student
at the University of Catania, Italy, where she received a
degree in computer engineering in 2019 and the Master degree
in automation engineering and control of complex systems in
2021. Her research interests include mobile robotics, model
predictive control and intelligent control of nonlinear systems,
locomotion control and legged robots.
Luca Patanè (lpatane@unime.it) is an Assistant Professor of
automatic control systems at the University of Messina, Italy.
He received the degree in computer science engineering
and the Ph.D. degree in automation and electronic engineering
from the University of Catania, Italy in 2001 and 2005,
respectively. His research activities focus on nonlinear systems
modeling and control, system identification and soft sensor
development, neural networks and learning systems, legged
locomotion and insect-inspired control systems, and modeling
and control of bio-inspired robots.
Salvatore Taffara (salvatore.taffara@phd.unict.it) is a Ph.D.
Student at the University of Catania, Italy, where he received
the bachelor's degree in computer engineering and the Master
degree in automation and control of complex systems in
2016 and 2018, respectively. His research interests include
central path generator algorithms, path planning algorithms,
linear and nonlinear model predictive control applied to
quadruped locomotion, and liquid state machines neural
networks.
December 2022
IEEE Instrumentation & Measurement Magazine
27
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