Neuromorphic implementation of robotic control has been shown to outperform conventional control paradigms in terms of robustness to perturbations and adaptation to varying conditions. Two main ingredients of robotics are inverse kinematic and Proportional-Integral-Derivative (PID) control. Inverse kinematics is used to compute an appropriate state in a robot's configuration space, given a target position in task space. PID control applies responsive correction signals to a robot's actuators, allowing it to reach its target accurately. The Neural Engineering Framework (NEF) offers a theoretical framework for a neuromorphic encoding of mathematical constructs with spiking neurons for the implementation of functional large-scale neural networks. https://www.selleckchem.com/products/cobimetinib-gdc-0973-rg7420.html In this work, we developed NEF-based neuromorphic algorithms for inverse kinematics and PID control, which we used to manipulate 6 degrees of freedom robotic arm. We used online learning for inverse kinematics and signal integration and differentiation for PID, offering high performing and energy-efficient neuromorphic control. Algorithms were evaluated in simulation as well as on Intel's Loihi neuromorphic hardware.A repetitive movement pattern of many animals, a gait, is controlled by the Central Pattern Generator (CPG), providing rhythmic control synchronous to the sensed environment. As a rhythmic signal generator, the CPG can control the motion phase of biomimetic legged robots without feedback. The CPG can also act in sensory synchronization, where it can be utilized as a sensory phase estimator. Direct use of the CPG as the estimator is not common, and there is little research done on its utilization in the phase estimation. Generally, the sensory estimation augments the sensory feedback information, and motion irregularities can reveal from comparing measurements with the estimation. In this work, we study the CPG in the context of phase irregularity detection, where the timing of sensory events is disturbed. We propose a novel self-supervised method for learning mistiming detection, where the neural detector is trained by dynamic Hebbian-like rules during the robot walking. The proposed detector is composed of three neural components (i) the CPG providing phase estimation, (ii) Radial Basis Function neuron anticipating the sensory event, and (iii) Leaky Integrate-and-Fire neuron detecting the sensory mistiming. The detector is integrated with the CPG-based gait controller. The mistiming detection triggers two reflexes the elevator reflex, which avoids an obstacle, and the search reflex, which grasps a missing foothold. The proposed controller is deployed and trained on a hexapod walking robot to demonstrate the mistiming detection in real locomotion. The trained system has been examined in the controlled laboratory experiment and real field deployment in the Bull Rock cave system, where the robot utilized mistiming detection to negotiate the unstructured and slippery subterranean environment.With the rapid development of robotic and AI technology in recent years, human-robot interaction has made great advancement, making practical social impact. Verbal commands are one of the most direct and frequently used means for human-robot interaction. Currently, such technology can enable robots to execute pre-defined tasks based on simple and direct and explicit language instructions, e.g., certain keywords must be used and detected. However, that is not the natural way for human to communicate. In this paper, we propose a novel task-based framework to enable the robot to comprehend human intentions using visual semantics information, such that the robot is able to satisfy human intentions based on natural language instructions (total three types, namely clear, vague, and feeling, are defined and tested). The proposed framework includes a language semantics module to extract the keywords despite the explicitly of the command instruction, a visual object recognition module to identify the objects in front of the robot, and a similarity computation algorithm to infer the intention based on the given task. The task is then translated into the commands for the robot accordingly. Experiments are performed and validated on a humanoid robot with a defined task to pick the desired item out of multiple objects on the table, and hand over to one desired user out of multiple human participants. The results show that our algorithm can interact with different types of instructions, even with unseen sentence structures.Early detection of mild cognitive impairment (MCI) has become a priority in Alzheimer's disease (AD) research, as it is a transitional phase between normal aging and dementia. However, information on MCI and AD is scattered across different formats and standards generated by different technologies, making it difficult to work with them manually. Ontologies have emerged as a solution to this problem due to their capacity for homogenization and consensus in the representation and reuse of data. In this context, an ontology that integrates the four main domains of neurodegenerative diseases, diagnostic tests, cognitive functions, and brain areas will be of great use in research. Here, we introduce the first approach to this ontology, the Neurocognitive Integrated Ontology (NIO), which integrates the knowledge regarding neuropsychological tests (NT), AD, cognitive functions, and brain areas. This ontology enables interoperability and facilitates access to data by integrating dispersed knowledge across different disciplines, rendering it useful for other research groups. To ensure the stability and reusability of NIO, the ontology was developed following the ontology-building life cycle, integrating and expanding terms from four different reference ontologies. The usefulness of this ontology was validated through use-case scenarios.Cognitive control and decision-making rely on the interplay of medial and lateral prefrontal cortex (mPFC/lPFC), particularly for circumstances in which correct behavior requires integrating and selecting among multiple sources of interrelated information. While the interaction between mPFC and lPFC is generally acknowledged as a crucial circuit in adaptive behavior, the nature of this interaction remains open to debate, with various proposals suggesting complementary roles in (i) signaling the need for and implementing control, (ii) identifying and selecting appropriate behavioral policies from a candidate set, and (iii) constructing behavioral schemata for performance of structured tasks. Although these proposed roles capture salient aspects of conjoint mPFC/lPFC function, none are sufficiently well-specified to provide a detailed account of the continuous interaction of the two regions during ongoing behavior. A recent computational model of mPFC and lPFC, the Hierarchical Error Representation (HER) model, places the regions within the framework of hierarchical predictive coding, and suggests how they interact during behavioral periods preceding and following salient events.