Hybrid implementation of neuromorphic system for robot control

Ivan Yu. Smolyakov
Peter the Great Saint Petersburg Polytechnical University (SPbPU), Software Engineer, 29, Politekhnicheskaya ul., Saint Petersburg, 195251, Russia, tel.: +7(981)847-54-35, This email address is being protected from spambots. You need JavaScript enabled to view it.

Lev A. Stankevich
PhD in Technical Sciences, Associate Professor, Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Leading Research Scientist, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia; LtD «I-Brain», Head of Development Department, tel.: +7(911)751-16-56, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 19 August 2021

Abstract
The article proposes a new approach to the implementation of a neuromorphic system based on a hybrid model of a neuron, made in a neuro-fuzzy basis. The closest analogue, the Neo-fuzzy neuron model, is described. A neurological cluster model, previously developed with the participation of the authors, was chosen as a prototype for constructing a hybrid model. The basic procedures for processing and teaching this model to map a given function, as well as additional procedures for coding pulse inputs and synthesis of pulse outputs are presented. Using these procedures, a new hybrid model of a spike neuron has been implemented, which reflects the function of the traditional model of Izhikevich's neuron. It is shown that the hybrid model requires less computing resources. On the basis of the new version of the hybrid model, a spike neuromorphic network was developed and tested to control the movements of a mobile robot along a given trajectory. It is assumed that, using a hybrid version of the neuron model, it is easier to implement a hardware version of spike neuromorphic networks than using neuron models based on differential equations. On the basis of such hardware-implemented networks, it is possible to create effective neuromorphic control systems for mobile robots.

Key words
Neuromorphic system, spike neuromorphic network, hybrid neuron model, neuron-fuzzy basis, mobile robot control.

Acknowledgements
This work was done as the part of the state task of the Ministry of Education and Science of Russia No. 075-00913-21-01 «Development and study of new architectures of reconfigurable growing neural networks, methods and algorithms for their learning».

DOI
10.31776/RTCJ.9406

Bibliographic description
Smolyakov, I. and Stankevich, L., 2021. Hybrid implementation of neuromorphic system for robot control. Robotics and Technical Cybernetics, 9(4), pp.289-298.

UDC identifier:
004.896

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