5 papers · 1 filter
Spiking control systems for soft robotics: a rhythmic case study in a soft robotic crawler
Juncal Arbelaiz, Alessio Franci, Naomi Ehrich Leonard +2
Inspired by spiking neural feedback, we propose a spiking controller to engineer the locomotion of a soft robotic crawler. Its bistability, akin to neural fast positive feedback, c…
Singular networks and ultrasensitive terminal behaviors
Alessio Franci, Bart Besselink, Arjan van der Schaft
Negative conductance elements are key to shape the input-output behavior at the terminals of a network through localized positive feedback amplification. The balance of positive an…
Bifurcation analysis of an opinion dynamics model coupled with an environmental dynamics
Anthony Couthures, Anastasia Bizyaeva, Vineeth S. Varma +2
We consider an opinion dynamics model coupled with an environmental dynamics. Based on a forward invariance argument, we can simplify the analysis of the asymptotic behavior to the…
Tunable Thresholds and Frequency Encoding in a Spiking NOD Controller
Ian Xul Belaustegui, Alessio Franci, Naomi Ehrich Leonard
Spiking Nonlinear Opinion Dynamics (S-NOD) is an excitable decision-making model inspired by the spiking dynamics of neurons. S-NOD enables the design of agile decision-making that…
Directional excitability in Hilbert spaces
Gustave Bainier, Alessio Franci
We introduce a generalized excitable system in which spikes can happen in a continuum of directions, therefore drastically enriching the expressivity and control capability of the…