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Real-time estimation of horizontal gaze angle by saccade integration using in-ear electrooculography

comments. Conceptualization: ĽuboÏs HlaÂdek, Bernd Porr, W. Owen Brimijoin. Data curation: ĽuboÏs HlaÂdek. Formal analysis: ĽuboÏs HlaÂdek. Funding acquisition: Bernd Porr, W. Owen Brimijoin ... . Investigation: ĽuboÏs HlaÂdek, Bernd Porr, W. Owen Brimijoin. Methodology: ĽuboÏs HlaÂdek, Bernd Porr, W. Owen Brimijoin. Project administration: W. Owen Brimijoin. Resources: Bernd Porr, W. Owen Brimijoin. 21

Bipedal robotic walking control derived from analysis of human locomotion

This paper proposes the design of a bipedal robotic controller where the function between the sensory input and motor output is treated as a black box derived from human data. In order to achieve this, we investigated the causal relationship between ground contact information from the feet and leg muscle activity n human walking and calculated filter functions which transform...

Model checking learning agent systems using Promela with embedded C code and abstraction

As autonomous systems become more prevalent, methods for their verification will become more widely used. Model checking is a formal verification technique that can help ensure the safety of autonomous systems, but in most cases it cannot be applied by novices, or in its straight “off-the-shelf” form. In order to be more widely applicable it is crucial that more sophisticated...

Reflex Control of Robotic Gait Using Human Walking Data

Control of human walking is not thoroughly understood, which has implications in developing suitable strategies for the retraining of a functional gait following neurological injuries such as spinal cord injury (SCI). Bipedal robots allow us to investigate simple elements of the complex nervous system to quantify their contribution to motor control. RunBot is a bipedal robot...

Behavioral analysis of differential hebbian learning in closed-loop systems

Understanding closed loop behavioral systems is a non-trivial problem, especially when they change during learning. Descriptions of closed loop systems in terms of information theory date back to the 1950s, however, there have been only a few attempts which take into account learning, mostly measuring information of inputs. In this study we analyze a specific type of closed loop...

Mathematical properties of neuronal TD-rules and differential Hebbian learning: a comparison

Christoph Kolodziejski 0 Bernd Porr 0 Florentin Wrgtter 0 0 B. Porr Department of Electronics and Electrical Engineering, University of Glasgow , Glasgow GT12 8LT, Scotland A confusingly wide

Adaptive, Fast Walking in a Biped Robot under Neuronal Control and Learning

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 autonomous, and where...

Path-finding in real and simulated rats: assessing the influence of path characteristics on navigation learning

A large body of experimental evidence suggests that the hippocampal place field system is involved in reward based navigation learning in rodents. Reinforcement learning (RL) mechanisms have been used to model this, associating the state space in an RL-algorithm to the place-field map in a rat. The convergence properties of RL-algorithms are affected by the exploration patterns...