Neuron-Based Control Mechanisms For A Robotic Arm And Hand

Abstract

A robotic arm and hand controlled by simulated<br> neurons is presented. The robot makes use of a biological neuron<br> simulator using a point neural model. The neurons and synapses are<br> organised to create a finite state automaton including neural inputs<br> from sensors, and outputs to effectors. The robot performs a simple<br> pick-and-place task. This work is a proof of concept study for a<br> longer term approach. It is hoped that further work will lead to<br> more effective and flexible robots. As another benefit, it is hoped that<br> further work will also lead to a better understanding of human and<br> other animal neural processing, particularly for physical motion. This<br> is a multidisciplinary approach combining cognitive neuroscience,<br> robotics, and psychology.