Neuromorphe, Glatte Steuerung von Roboterarmen

Details

Veröffentlichungs-Nr.

EP4129580

Aktenzeichen

EP22187915

Anmeldetag

29. Juli 2022

Veröffentlichung

18. Juni 2025

Erteilung

18. Juni 2025

Rechtsraum

EP

IPC

B25J9/16G06N3/04G06N3/049G06N3/09

Abstract

This document describes neuromorphic controllers. In one aspect, a method for controlling one or more joints of a robotic arm includes receiving, by neuromorphic controller comprising a spiking neural network (SNN), a target value of a joint control variable for a joint of the robotic arm. The SNN includes two position proprioceptor neurons, two-speed proprioceptor neurons, a presynaptic inhibitory neuron, an extensor motor neuron, and a flexor motor neuron. The neuromorphic controller updates an actual value of the joint control variable for the joint of the robotic arm based on the target value of the joint control variable. The updating includes generating, by one of the two position proprioceptor neurons, the first spikes to one of the extensors motor neurons or the flexor motor neuron based on a difference between the actual value of the joint control variable and the target value of the joint control variable.

Anmelder

Firma

Accenture Global Solutions Limited

Land

🇮🇪 Irland

Fachgebiete