信息与控制2024，Vol.53Issue(4)：453-470,18.DOI:10.13976/j.cnki.xk.2024.4092
基于脉冲神经网络的机器人智能控制研究进展
Research Advances on Robot Intelligent Control Based on Spiking Neural Network
摘要
Abstract
One of the goals pursued by robotics research is to operate dexterously like humans in complex and changeable unstructured environments.The spiking neural network(SNN)inspired by the working mode of the biological brain is the main working paradigm in the field of brain-inspired in-telligence.It has good biological rationality and has attracted increasing attention in the field of ro-bot intelligent control.We provide a review of research related to SNN-based robot brain-inspired intelligent control,hoping to bring inspiration to research in the field of robots and brain-inspired intelligence.Firstly,we introduce SNN-related knowledge such as the development history of SNN,neuron models,encoding methods,synaptic plasticity and network structure.Secondly,by drawing on the human motion feedback control mechanism,we give a framework for robot brain-in-spired intelligent control based on SNN.Thirdly,we introduce the research progress of robot brain-inspired intelligent control strategies from three aspects:motion control,compliance control,and collaborative control.Finally,the SNN-based robot brain-inspired intelligent control technology is summarized and prospected.关键词
脉冲神经网络/运动控制/柔顺控制/协同控制Key words
spiking neural network/motion control/compliance control/collaborative control分类
计算机与自动化引用本文复制引用
敖天勇,曹贤泽,付乐,周毅..基于脉冲神经网络的机器人智能控制研究进展[J].信息与控制,2024,53(4):453-470,18.基金项目
国家自然科学基金项目(62176088,62303160) （62176088,62303160）
河南省科技攻关项目(232102211011,242102220111) （232102211011,242102220111）
