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Browsing Articles by Author "Keldibek, Amina"

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    A Neuromorphic Motion Controller for a Biped Robot
    (Human Performance and Robotics, Satellite Workshop of IEEE Humanoid 2016, 2016) Folgheraiter, Michele; Keldibek, Amina; Aubakir, Bauyrzhan; Salakchinov, Shyngys; Gini, Giuseppina; Mauro Franchi, Alessio
    Here we propose a neuromorphic control system for a medium size humanoid robot under development in the Robotics and Mechatronics Department at Nazarbayev University and in cooperation with Politecnico di Milano.
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    ItemOpen Access
    Development of a neuromorphic control system for a lightweight humanoid robot
    (The International Conference on Information Technology and Digital Applications, 2016-11) Folgheraiter, Michele; Keldibek, Amina; Aubakir, Bauyrzhan; Salakchinov, Shyngys
    A neuromorphic control system for a lightweight middle size humanoid biped robot built using 3D printing techniques is proposed. The control architecture consists of different modules capable to learn and autonomously reproduced complex periodic trajectories. Each modul is represented by a chaotic Recurrent Neural Network (RNN) with a core of dynamic neurons randomly and sparsely connected with fixed synapses . A set of read-out units with adaptable synapses realize a linear combination of the neurons output in order to reproduce the target signals. Different experiments were conducted to find out the optimal initialization for the RNN`s parameters. From simulation results, using normalized signals obtained from the robot model, it was proven that all the instances of the control module can learn and reproduce the target trajectories with an average RMS error of 1.63 and variance 0.74