Learn More
In this paper, we present our design and experiments of a planar biped robot under control of a pure sensor-driven controller. This design has some special mechanical features, e.g., small curved feet allowing rolling action and a properly positioned center of mass, that facilitate fast walking through exploitation of the robot's natural dynamics. Our(More)
In this review, we compare methods for temporal sequence learning (TSL) across the disciplines machine-control, classical conditioning, neuronal models for TSL as well as spike-timing-dependent plasticity (STDP). This review introduces the most influential models and focuses on two questions: To what degree are reward-based (e.g., TD learning) and(More)
Spike-timing-dependent plasticity (STDP) is described by long-term potentiation (LTP), when a presynaptic event precedes a postsynaptic event, and by long-term depression (LTD), when the temporal order is reversed. In this article, we present a biophysical model of STDP based on a differential Hebbian learning rule (ISO learning). This rule correlates(More)
In spike-timing-dependent plasticity (STDP) the synapses are potentiated or depressed depending on the temporal order and temporal difference of the pre- and post-synaptic signals. We present a biophysical model of STDP which assumes that not only the timing, but also the shapes of these signals influence the synaptic modifications. The model is based on a(More)
Human walking is a dynamic, partly self-stabilizing process relying on the interaction of the biomechanical design with its neuronal control. The coordination of this process is a very difficult problem, and it has been suggested that it involves a hierarchy of levels, where the lower ones, e.g., interactions between muscles and the spinal cord, are largely(More)
Currently all important, low-level, unsupervised network learning algorithms follow the paradigm of Hebb, where input and output activity are correlated to change the connection strength of a synapse. However, as a consequence, classical Hebbian learning always carries a potentially destabilizing autocorrelation term, which is due to the fact that every(More)
The simplest form of sensor-motor control is obtained with a reflex. In this case the reflex can be interpreted as part of a closed-loop control paradigm which measures a sensor input and generates a motor reaction as soon as the sensor signal deviates from its desired (resting) state. This is a typical case of feedback control. However, reflex reactions(More)
A confusingly wide variety of temporally asymmetric learning rules exists related to reinforcement learning and/or to spike-timing dependent plasticity, many of which look exceedingly similar, while displaying strongly different behavior. These rules often find their use in control tasks, for example in robotics and for this rigorous convergence and(More)
The nervous system is operationally closed. It operates only in contact to itself. This astonishing claim has been made by Heinz von Foerster, one of the founders of radical constructivism. This work explores the consequences of his claim in the context of linear signal theory, embodiment and the creation of artifacts. In linear signal theory all transfer(More)