Whole-Body Compliant Motion by Sensor Integration of an EHA-Driven Humanoid Hydra

Joints’ backdrivability is desired for robots that perform tasks contacting the environment, in addition to the high torque and fast response property. The electro-hydrostatic actuator (EHA) is an approach to realize force-sensitive robots. To experimentally confirm the performance of a biped robot driven by EHAs, we developed the fully electro-hydrostatically driven humanoid robot Hydra. In this paper, we evaluate the whole-body control performance realized by integrating encoders, pressure sensors, and IMU through a high-speed communication bus to the distributed whole-body control system. We report the first example of bipedal locomotion by an EHA-driven robot in both position-controlled and torque-controlled approaches. The robot could keep the balance even when the ground condition was changing impulsively and utilize its high joint backdrivability to absorb a disturbance by the null space compliance. We also report practical challenges in implementing compliant control in real hardware with limitations in parameter accuracy, torque, and response. We experimentally confirmed that the resolved viscoelasticity control (RVC), which has indirect feedback of operational space tasks by projecting the operational space feedback gain to the joint space one, was effective to tune a proper gain to stabilize the center-of-mass motion while avoiding joint-level oscillation invoked by the control bandwidth limitation. The attached multimedia file includes the video of all experiments presented in the paper.

The Generation and Modulation of Distinct Gamma Oscillations with Local, Horizontal, and Feedback Connections in the Primary Visual Cortex: A Model Study on Large-Scale Networks

Gamma oscillation (GAMMA) in the local field potential (LFP) is a synchronized activity commonly found in many brain regions, and it has been thought as a functional signature of network connectivity in the brain, which plays important roles in information processing. Studies have shown that the response property of GAMMA is related to neural interaction through local recurrent connections (RC), feed-forward (FF), and feedback (FB) connections. However, the relationship between GAMMA and long-range horizontal connections (HC) in the brain remains unclear. Here, we aimed to understand this question in a large-scale network model for the primary visual cortex (V1). We created a computational model composed of multiple excitatory and inhibitory units with biologically plausible connectivity patterns for RC, FF, FB, and HC in V1; then, we quantitated GAMMA in network models at different strength levels of HC and other connection types. Surprisingly, we found that HC and FB, the two types of large-scale connections, play very different roles in generating and modulating GAMMA. While both FB and HC modulate a fast gamma oscillation (around 50-60 Hz) generated by FF and RC, HC generates a new GAMMA oscillating around 30 Hz, whose power and peak frequency can also be modulated by FB. Furthermore, response properties of the two GAMMAs in a network with both HC and FB are different in a way that is highly consistent with a recent experimental finding for distinct GAMMAs in macaque V1. The results suggest that distinct GAMMAs are signatures for neural connections in different spatial scales and they might be related to different functions for information integration. Our study, for the first time, pinpoints the underlying circuits for distinct GAMMAs in a mechanistic model for macaque V1, which might provide a new framework to study multiple gamma oscillations in other cortical regions.

Sulfur-Doped Wood-derived Porous Carbon for Optimizing Electromagnetic Response Performance

Bio-mass materials have been selected as one of the advanced electromagnetic (EM) functional materials due to its natural porous framework for dynamically and flexibly optimizing the EM response property. Herein,...

Tunable formaldehyde sensing properties of palladium cluster decorated graphene

The adsorption strength of formaldehyde gas molecule and sensing response property on palladium cluster decorated graphene can be tuned by controlling the cluster size.

Orientation Tuning and End-stopping in Macaque V1 Studied with Two-photon Calcium Imaging

Orientation tuning is a fundamental response property of V1 neurons and has been extensively studied with single-/multiunit recording and intrinsic signal optical imaging. Long-term 2-photon calcium imaging allows simultaneous recording of hundreds of neurons at single neuron resolution over an extended time in awake macaques, which may help elucidate V1 orientation tuning properties in greater detail. We used this new technology to study the microstructures of orientation functional maps, as well as population tuning properties, in V1 superficial layers of 5 awake macaques. Cellular orientation maps displayed horizontal and vertical clustering of neurons according to orientation preferences, but not tuning bandwidths, as well as less frequent pinwheels than previous estimates. The orientation tuning bandwidths were narrower than previous layer-specific single-unit estimates, suggesting more precise orientation selectivity. Moreover, neurons tuned to cardinal and oblique orientations did not differ in quantities and bandwidths, likely indicating minimal V1 representation of the oblique effect. Our experimental design also permitted rough estimates of length tuning. The results revealed significantly more end-stopped cells at a more superficial 150 μm depth (vs. 300 μm), but unchanged orientation tuning bandwidth with different length tuning. These results will help construct more precise models of V1 orientation processing.