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In this paper, we present two versions of a hardware processing architecture for modeling large networks of leaky-integrate-and-flre (LIF) neurons; the second version provides performance enhancing features relative to the first. Both versions of the architecture use fixed-point arithmetic and have been implemented using a single field-programmable gate(More)
In whiskered animals, activity is evoked in the primary sensory afferent cells (trigeminal nerve) by mechanical stimulation of the whiskers. In some cell populations this activity is correlated well with continuous stimulus parameters such as whisker deflection magnitude, but in others it is observed to represent events such as whisker-stimulator contact or(More)
Contact type dependency of texture classification in a whiskered mobile robot. Autonomous Robots manuscript No. Abstract Actuated artificial whiskers modeled on rat macrovibrissae can provide effective tactile sensor systems for autonomous robots. This article focuses on texture classification using artificial whiskers and addresses a limitation of previous(More)
The Whiskerbot project is a collaborative project between robotics engineers, computational neurosci-entists and ethologists, aiming to build a biologically inspired robotic implementation of the rodent whisker sensory system. The morphology and mechanics of the large whiskers (macro-vibrissae) have been modeled, as have the neural structures that(More)
We recommend you cite the published version. Disclaimer UWE has obtained warranties from all depositors as to their title in the material deposited and as to their right to deposit such material. UWE makes no representation or warranties of commercial utility, title, or fitness for a particular purpose or any other warranty, express or implied in respect of(More)
We recommend you cite the published version. Disclaimer UWE has obtained warranties from all depositors as to their title in the material deposited and as to their right to deposit such material. UWE makes no representation or warranties of commercial utility, title, or fitness for a particular purpose or any other warranty, express or implied in respect of(More)
Studies of decision making in animals suggest a neural mechanism of evidence accumulation for competing percepts according to Bayesian sequential analysis. This model of perception is embodied here in a biomimetic tactile sensing robot based on the rodent whisker system. We implement simultaneous perception of object shape and location using two(More)
The rat has a sophisticated tactile sensory system centred around the facial whiskers. During normal behaviour, rats sweep their longer whiskers (macrovibrissae) through the environment to obtain large-scale information, whilst gathering small-scale information with the sensory apparatus around their snout. The macrovibrissae are actively and differentially(More)