Brain-Inspired Spiking Neural Network Controller for a Neurorobotic Whisker System
It is common for animals to use self-generated movements to actively sense the surrounding environment. For instance, rodents rhythmically move their whiskers to explore the space close to their body. The mouse whisker system has become a standard model for studying active sensing and sensorimotor i...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2022-06-01
|
| Series: | Frontiers in Neurorobotics |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/fnbot.2022.817948/full |
| _version_ | 1818470220114690048 |
|---|---|
| author | Alberto Antonietti Alberto Antonietti Alice Geminiani Edoardo Negri Edoardo Negri Egidio D'Angelo Egidio D'Angelo Claudia Casellato Alessandra Pedrocchi |
| author_facet | Alberto Antonietti Alberto Antonietti Alice Geminiani Edoardo Negri Edoardo Negri Egidio D'Angelo Egidio D'Angelo Claudia Casellato Alessandra Pedrocchi |
| author_sort | Alberto Antonietti |
| collection | DOAJ |
| description | It is common for animals to use self-generated movements to actively sense the surrounding environment. For instance, rodents rhythmically move their whiskers to explore the space close to their body. The mouse whisker system has become a standard model for studying active sensing and sensorimotor integration through feedback loops. In this work, we developed a bioinspired spiking neural network model of the sensorimotor peripheral whisker system, modeling trigeminal ganglion, trigeminal nuclei, facial nuclei, and central pattern generator neuronal populations. This network was embedded in a virtual mouse robot, exploiting the Human Brain Project's Neurorobotics Platform, a simulation platform offering a virtual environment to develop and test robots driven by brain-inspired controllers. Eventually, the peripheral whisker system was adequately connected to an adaptive cerebellar network controller. The whole system was able to drive active whisking with learning capability, matching neural correlates of behavior experimentally recorded in mice. |
| first_indexed | 2024-04-13T21:34:43Z |
| format | Article |
| id | doaj.art-e4cdf45b1d454c3396b8fe964c99280a |
| institution | Directory Open Access Journal |
| issn | 1662-5218 |
| language | English |
| last_indexed | 2024-04-13T21:34:43Z |
| publishDate | 2022-06-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Neurorobotics |
| spelling | doaj.art-e4cdf45b1d454c3396b8fe964c99280a2022-12-22T02:29:01ZengFrontiers Media S.A.Frontiers in Neurorobotics1662-52182022-06-011610.3389/fnbot.2022.817948817948Brain-Inspired Spiking Neural Network Controller for a Neurorobotic Whisker SystemAlberto Antonietti0Alberto Antonietti1Alice Geminiani2Edoardo Negri3Edoardo Negri4Egidio D'Angelo5Egidio D'Angelo6Claudia Casellato7Alessandra Pedrocchi8Neurocomputational Laboratory, Department of Brain and Behavioral Sciences, University of Pavia, Pavia, ItalyNearlab, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milan, ItalyNeurocomputational Laboratory, Department of Brain and Behavioral Sciences, University of Pavia, Pavia, ItalyNeurocomputational Laboratory, Department of Brain and Behavioral Sciences, University of Pavia, Pavia, ItalyNearlab, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milan, ItalyNeurocomputational Laboratory, Department of Brain and Behavioral Sciences, University of Pavia, Pavia, ItalyBrain Connectivity Center, IRCCS Mondino Foundation, Pavia, ItalyNeurocomputational Laboratory, Department of Brain and Behavioral Sciences, University of Pavia, Pavia, ItalyNearlab, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milan, ItalyIt is common for animals to use self-generated movements to actively sense the surrounding environment. For instance, rodents rhythmically move their whiskers to explore the space close to their body. The mouse whisker system has become a standard model for studying active sensing and sensorimotor integration through feedback loops. In this work, we developed a bioinspired spiking neural network model of the sensorimotor peripheral whisker system, modeling trigeminal ganglion, trigeminal nuclei, facial nuclei, and central pattern generator neuronal populations. This network was embedded in a virtual mouse robot, exploiting the Human Brain Project's Neurorobotics Platform, a simulation platform offering a virtual environment to develop and test robots driven by brain-inspired controllers. Eventually, the peripheral whisker system was adequately connected to an adaptive cerebellar network controller. The whole system was able to drive active whisking with learning capability, matching neural correlates of behavior experimentally recorded in mice.https://www.frontiersin.org/articles/10.3389/fnbot.2022.817948/fullpoint neuron modelneurorobotic architectureactive whiskingtrigeminal gangliontrigeminal nucleifacial nuclei |
| spellingShingle | Alberto Antonietti Alberto Antonietti Alice Geminiani Edoardo Negri Edoardo Negri Egidio D'Angelo Egidio D'Angelo Claudia Casellato Alessandra Pedrocchi Brain-Inspired Spiking Neural Network Controller for a Neurorobotic Whisker System Frontiers in Neurorobotics point neuron model neurorobotic architecture active whisking trigeminal ganglion trigeminal nuclei facial nuclei |
| title | Brain-Inspired Spiking Neural Network Controller for a Neurorobotic Whisker System |
| title_full | Brain-Inspired Spiking Neural Network Controller for a Neurorobotic Whisker System |
| title_fullStr | Brain-Inspired Spiking Neural Network Controller for a Neurorobotic Whisker System |
| title_full_unstemmed | Brain-Inspired Spiking Neural Network Controller for a Neurorobotic Whisker System |
| title_short | Brain-Inspired Spiking Neural Network Controller for a Neurorobotic Whisker System |
| title_sort | brain inspired spiking neural network controller for a neurorobotic whisker system |
| topic | point neuron model neurorobotic architecture active whisking trigeminal ganglion trigeminal nuclei facial nuclei |
| url | https://www.frontiersin.org/articles/10.3389/fnbot.2022.817948/full |
| work_keys_str_mv | AT albertoantonietti braininspiredspikingneuralnetworkcontrollerforaneuroroboticwhiskersystem AT albertoantonietti braininspiredspikingneuralnetworkcontrollerforaneuroroboticwhiskersystem AT alicegeminiani braininspiredspikingneuralnetworkcontrollerforaneuroroboticwhiskersystem AT edoardonegri braininspiredspikingneuralnetworkcontrollerforaneuroroboticwhiskersystem AT edoardonegri braininspiredspikingneuralnetworkcontrollerforaneuroroboticwhiskersystem AT egidiodangelo braininspiredspikingneuralnetworkcontrollerforaneuroroboticwhiskersystem AT egidiodangelo braininspiredspikingneuralnetworkcontrollerforaneuroroboticwhiskersystem AT claudiacasellato braininspiredspikingneuralnetworkcontrollerforaneuroroboticwhiskersystem AT alessandrapedrocchi braininspiredspikingneuralnetworkcontrollerforaneuroroboticwhiskersystem |