Abstract:
:In this work, we present a neuromorphic architecture for head pose estimation and scene representation for the humanoid iCub robot. The spiking neuronal network is fully realized in Intel's neuromorphic research chip, Loihi, and precisely integrates the issued motor commands to estimate the iCub's head pose in a neuronal path-integration process. The neuromorphic vision system of the iCub is used to correct for drift in the pose estimation. Positions of objects in front of the robot are memorized using on-chip synaptic plasticity. We present real-time robotic experiments using 2 degrees of freedom (DoF) of the robot's head and show precise path integration, visual reset, and object position learning on-chip. We discuss the requirements for integrating the robotic system and neuromorphic hardware with current technologies.
journal_name
Front Neuroscijournal_title
Frontiers in neuroscienceauthors
Kreiser R,Renner A,Leite VRC,Serhan B,Bartolozzi C,Glover A,Sandamirskaya Ydoi
10.3389/fnins.2020.00551subject
Has Abstractpub_date
2020-06-23 00:00:00pages
551eissn
1662-4548issn
1662-453Xjournal_volume
14pub_type
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