AUTHOR=Birrell Simon , Abdulali Arsen , Iida Fumiya 

TITLE=Reach Space Analysis of Baseline Differential Extrinsic Plasticity Control

JOURNAL=Frontiers in Neurorobotics

VOLUME=16

YEAR=2022

URL=https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2022.848084

DOI=10.3389/fnbot.2022.848084

ISSN=1662-5218

ABSTRACT=<p>The neuroplasticity rule Differential Extrinsic Plasticity (DEP) has been studied in the context of goal-free simulated agents, producing realistic-looking, environmentally-aware behaviors, but no successful control mechanism has yet been implemented for intentional behavior. The goal of this paper is to determine if “short-circuited DEP,” a simpler, open-loop variant can generate desired trajectories in a robot arm. DEP dynamics, both transient and limit cycles are poorly understood. Experiments were performed to elucidate these dynamics and test the ability of a robot to leverage these dynamics for target reaching and circular motions.</p>