スパイキングリングアトラクタによる回転関節ロボットの表現と制御

原文アブストラクト

Robotic systems with revolute joints evolve on circular state spaces, yet most control architectures represent these states using Euclidean variables that ignore this underlying geometry. We propose a fully spiking neural control architecture in which ring attractors encode joint states, enforcing representations consistent with the topology of revolute systems. Homeostatic regulation computes goal-state mismatch directly over these distributed representations, and opponent gain-modulated populations convert this mismatch into controlled phase shifts of the activity bump, implementing set-point regulation as motion on the ring. We show that the bump dynamics follow an SO(2) geometry, and that gain asymmetries induce a signed phase velocity on the ring. To interface distributed activity with scalar regulation signals, we derive an analytic Fourier phase decoder and implement its signed components using push-pull spiking populations. For multi-joint systems, we demonstrate that local ring-based Fourier features compose into product representations that linearly decode SO(3) orientations through forward kinematics. Experiments in NEST validate the full SO(2) regulation mechanism and the spiking product-feature decoder for lift, pitch, and yaw. Robot experiments on a Tiago arm show that decoded ring dynamics generate joint velocity commands, producing directed motion with joint-dependent accuracy. Together, these results establish a neuromorphic control framework in which representation, regulation, and action are unified within a ring-attractor substrate aligned with the geometry of revolute systems.