23 papers
Soft and Hard Scaled Relative Graphs for Nonlinear Feedback Stability
Chao Chen, Sei Zhen Khong, Rodolphe Sepulchre
This article presents input-output stability analysis of nonlinear feedback systems based on the notion of soft and hard scaled relative graphs (SRGs). The soft and hard SRGs ackno…
State-space fading memory
Gustave Bainier, Antoine Chaillet, Rodolphe Sepulchre +1
The fading-memory (FM) property captures the progressive loss of influence of past inputs on a system's current output and has originally been formalized by Boyd and Chua in an ope…
On the Contraction of Excitable Systems
Alessandro Cecconi, Michelangelo Bin, Lorenzo Marconi +1
We study the contraction of Hodgkin-Huxley model and its role in the reliability of spike timings. Without input, the model is contractive in the region of physiological interest.…
A Neuromodulable Current-Mode Silicon Neuron for Robust and Adaptive Neuromorphic Systems
Loris Mendolia, Chenxi Wen, Elisabetta Chicca +4
Neuromorphic engineering makes use of mixed-signal analog and digital circuits to directly emulate the computational principles of biological brains. Such electronic systems offer…
A Neuromorphic Architecture for Scalable Event-Based Control
Yongkang Huo, Fulvio Forni, Rodolphe Sepulchre
This paper introduces the ``rebound Winner-Take-All (RWTA)" motif as the basic element of a scalable neuromorphic control architecture. From the cellular level to the system level,…
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…