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 Armin Duff Nathan F. Lepora Anna Mura
Tony J. Prescott Paul F.M.J. Verschure (Eds.)
LNAI 8608

Biomimetic
and Biohybrid Systems
Third International Conference, Living Machines 2014
Milan, Italy, July 30 – August 1, 2014
Proceedings

123
Lecture Notes in Artificial Intelligence 8608

Subseries of Lecture Notes in Computer Science

LNAI Series Editors

Randy Goebel
University of Alberta, Edmonton, Canada
Yuzuru Tanaka
Hokkaido University, Sapporo, Japan
Wolfgang Wahlster
DFKI and Saarland University, Saarbrücken, Germany

LNAI Founding Series Editor

Joerg Siekmann
DFKI and Saarland University, Saarbrücken, Germany
Armin Duff Nathan F. Lepora Anna Mura
Tony J. Prescott Paul F.M.J. Verschure (Eds.)

Biomimetic
and Biohybrid Systems
Third International Conference, Living Machines 2014
Milan, Italy, July 30 – August 1, 2014
Proceedings

13
Volume Editors
Armin Duff
Universitat Pompeu Fabra, Barcelona, Spain
E-mail: armin.duff@upf.edu
Nathan F. Lepora
University of Bristol, UK
E-mail: n.lepora@bristol.ac.uk
Anna Mura
Universitat Pompeau Fabra, Barcelona, Spain
E-mail: anna.mura@upf.edu
Tony J. Prescott
University of Sheffield, UK
E-mail: t.j.prescott@sheffield.ac.uk
Paul F.M.J. Verschure
Universitat Pompeu Fabra and
Catalan Institution for Research and Advanced Studies
Barcelona, Spain
E-mail: paul.verschure@upf.edu

ISSN 0302-9743 e-ISSN 1611-3349

ISBN 978-3-319-09434-2 e-ISBN 978-3-319-09435-9
DOI 10.1007/978-3-319-09435-9
Springer Cham Heidelberg New York Dordrecht London

Library of Congress Control Number: 2014944068

LNCS Sublibrary: SL 7 – Artificial Intelligence

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 Preface

These proceedings contain the papers presented at Living Machines: The Third
International Conference on Biomimetic and Biohybrid Systems, held in Mi-
lan, Italy, July 30 to August 1, 2014. This followed the first and second Living
Machines conferences that were held in Barcelona, Spain, in July 2012 and in
London, UK, in July 2013. These international conferences are targeted at the
intersection of research on novel life-like technologies based on the scientific inves-
tigation of biological systems, or biomimetics, and research that seeks to interface
biological and artificial systems to create biohybrid systems. The conference aim
is to highlight the most exciting international research in both of these fields
united by theme of “living machines.”
Living Machines promotes the idea that in order to build novel advanced
artifacts, such as robots, we need to understand, not only mimic, nature and life
and to base technology on the same fundamental principles. This idea is also
what dominated the interest and curiosity of one of the greatest geniuses of the
Renaissance, Leonardo Da Vinci, establishing a synergy between fundamental
knowledge and engineering:
“Knowing is not enough; we must apply. Being willing is not enough; we
must do.”
In admiration of this champion of knowledge and creativity, the 2014 edition
of Living Machines took place at the Museo Nazionale della Scienza e della
Tecnologia Leonardo da Vinci in Milan.
In between science and art, Leonardo considered both these disciplines in-
struments with which to exercise the same objective, understanding nature and
humans. In doing so he mastered engineering, physics, anatomy, drawing, and
painting to explore technical solutions shared by living beings to build machines
of any kind. Besides his interest in observing nature and life forms (for instance,
he studied the anatomy and behavior of birds, in their natural habitat, in or-
der to build his flying machines), Leonardo was also a great intellectual with a
passion for writing. Leonardo’s sketches and manuscripts were a vehicle to ad-
vance his reasoning, to report on his obsession for understanding, as well as to
give meaning to his drawings. Through his writings he articulated reflections on
nature, reports of experiments, calculations, drawings, plans, discoveries, inven-
tions, and commentaries on literature. As a man of the Renaissance, Leonardo da
Vinci used interdisciplinary methods, writing treatises on mechanics, anatomy,
cosmology, hydraulic, and earth sciences. In this sense, his work can be consid-
ered as a true precursor of the modern form of biomimetics expressed in the
Living Machines conference.
The development of future real-world technologies will depend strongly on
our understanding and harnessing of the principles underlying living systems
and the flow of communication signals between living and artificial systems. In
VI Preface

Fig. 1. Word cloud of the most frequent terms appearing in the contributions to Living
Machines 2014

this context, research areas presented at the third edition of the Living Machines
conference included brain-based systems, active sensing, soft robotics, learning,
memory, control architectures, self-regulation, movement and locomotion, sen-
sory systems, and perception (Fig. 1).

Biomimetics: Past, Present, and Future

As was already clear to da Vinci 500 years ago, nature is a good source for
finding solutions to technological problems as it continually reinvents itself to
solve challenges in the natural world. Nature’s improvements have evolved over
hundreds of millions of years in plants and animals resulting in the myriad of
natural design solutions around us. Nevertheless, although engineers are able
to build incredible robots with some of the attributes and abilities of animals
(including humans), we still fall short of reproducing the dexterity and adapt-
ability of animal perception, cognition, consciousness, and action. Progress here
may depend on advances in the reverse-engineering of natural control systems
implemented by biological brains. In this sense Living Machines moves beyond
mere “inspiration” to the understanding of principles. The Living Machines con-
ference anticipates a future in which there will be many artificial devices with
abilities based on biomimetic solutions, and biohybrid systems that combine
synthetic and natural components. The 2014 conference reports on a range of
such systems from flying micro devices, based on insects, to robotic manipula-
tors modeled on the human hand, to fish-like swimming robots. Such systems are
expected to have a role in our society, economy, and way of life in years to come.
and the Living Machines conference also seeks to anticipate and understand the
impacts of these technologies before they happen.
 Preface VII

The Living Machines Conference in Milan

The main conference, July 30 to August 1, 2014, took the form of a three-
day single-track program including 18 oral, 10 poster spotlights, and 40 poster
presentations and six plenary lectures from leading international researchers in
biomimetic and biohybrid systems: Mandyam Srinivasan, Queensland Brain In-
stitute, Australia: “Insect-inspired cognition and vision”; Andrew Schwartz, Uni-
versity of Minnesota, Pittsburgh, USA: “Neural Control of Prosthetics”; Sarah
Bergbreiter, University of Maryland, USA: “Microrobotics”; Darwin Caldwell,
Italian Institute of Technology, Genova, Italy: “Legged Locomotion and Revise”;
Ricard Sole, Universitat Pompeu Fabra, Barcelona, Spain: “Evolution of Com-
plex Networks”; Minoru Asada, Osaka University, Japan: “Cognitive and Affec-
tive Developmental Robotics.” The program also included an invited talk on
“Biomimetics in Design” by Franco Lodato the Creative Director of VSN Mo-
bil. Session themes included: soft robotics, neuromechanic systems, locomotion,
biohybrid systems, biomimetic systems, active sensing, and social robotics.
The conference was complemented with a day of workshops on July 29 around
the themes: Embodied Interaction and Internal Models (Volker Dürr and Paolo
Arena); The Robot Self (Tony Prescott and Paul Verschure); Emergent Social
Behaviours in Bio-hybrid Systems (José Halloy, Thomas Schmickl, and Stuart
Wilson); and Biomimetics in Design (Pino Trogu and Franco Lodato).
The main meeting, together with a poster and demo session and reception,
was hosted at the Museo Nazionale della Scienza e della Tecnologia Leonardo da
Vinci, Milan, Italy. This wonderful museum holds the greatest collection in the
world of machine models based on the designs and drawings of Leonardo da Vinci
and it is the largest science and technology museum in Italy. This venue, with
its outstanding collections of natural and human-made technologies provided an
ideal setting to host the third Living Machines conference.
We wish to thank the many people that were involved in making LM 2014 pos-
sible. Tony Prescott and Paul Verschure co-chaired and co-planned the meeting,
with Armin Duff chairing the Program Committee and editing the proceedings
volume. Anna Mura was responsible for the overall organization of the conference
and its communication. The workshop program was chaired by Barbara Mazzo-
lai and Anna Mura. Nathan Lepora contributed to the conference program and
communication, Carme Buisan and Pedro Omedas, from UPF, Barcelona, Silvia
Matti from IIT Milan, and Samantha Johnson from the University of Sheffield
provided administrative support including registration, booking, and financing.
Additional guidance and support were provided by Roberto Cingolani, Giorgio
Metta, and the Living Machines International Advisory Board. We would like
to thank artist Behadad Rezazadeh for the design of the LM 2014 logo and
Sytse Wierenga with Anna Mura for the web graphics. We would also like to
thank the authors and speakers who contributed their work, and the members of
the international Program Committee for their detailed and considerate reviews.
We are grateful to the six keynote speakers who shared with us their vision of
the future of Living Machines.
VIII Preface

Finally, we wish to thank the sponsors of LM 2014: The Convergence Science

Network for Biomimetics and Neurotechnology (CSN II) (ICT-601167), which
is funded by the European Union’s Framework 7 (FP7) program in the area of
Future Emerging Technologies (FET), the University of Sheffield, the University
Pompeu Fabra in Barcelona, and the Institució Catalana de Recerca i Estudis
Avançats (ICREA). We are grateful for the additional support provided by the
Italian Institute of Technology (IIT). The Living Machines reception at the con-
ference venue’s Sala delle Colonne featuring a unique exhibition of Leonardo da
Vinci’s machines was supported by the Taylor & Francis group, publishers of the
journal Connection Science.

July 2014 Armin Duff

Nathan F. Lepora
Anna Mura
Tony J. Prescott
Paul F.M.J. Verschure
 Organization

Committees
Conference Chairs
Tony Prescott University of Sheffield, Sheffield, UK
Paul Verschure Universitat Pompeu Fabra and Catalan
Institution for Research and Advanced
Studies, Barcelona, Spain

Program Chair
Armin Duff Universitat Pompeu Fabra, Barcelona, Spain

Communication, Organization, and Media

Anna Mura Universitat Pompeu Fabra, Barcelona, Spain

Communication
Nathan Lepora University of Bristol, Bristol, UK

Local Organizers

Roberto Cingolani
Giorgio Metta
Barbara Mazzolai

Program Committee

Andrew Adamatzky Anders Christensen

Robert Allen Frederik Claeyssens
Sean Anderson Holk Cruse
Joseph Ayers Mark Cutkosky
Yoseph Bar-Cohen Danilo De Rossi
Lucia Beccai Angel Del Pobil
Frédéric Boyer Peter Dominey
Dieter Braun Stéphane Doncieux
Federico Carpi Marco Dorigo
Hillel Chiel Volker Dürr
Eris Chinellato Mat Evans
X Organization

Benoı̂t Girard Martin Pearson

Michele Giugliano Giovanni Pezzulo
Paul Graham Andrew Philippides
Roderich Gross Andrew Pickering
Koh Hosoda Tony Pipe
Ioannis Ieropoulos Tony Prescott
Auke Ijspeert Roger Quinn
Holger Krapp Ferdinando Rodriguez y Baena
Cecilia Laschi Sylvain Saighi
Nathan Lepora Thomas Schmickl
Arianna Menciassi Reiko Tanaka
Ben Mitchinson Pablo Varona
Martin Nawrot Eleni Vasilaki
Stefano Nolfi Stefano Vassanelli
Thomas Nowotny Paul Verschure
Jiro Okada Stuart Wilson
Enrico Pagello Hartmut Witte
Tim Pearce

International Steering Committee

Iain Anderson Maarja Kruusmaa

Joseph Ayers David Lane
Ralph-Etienne Cummings Nathan Lepora
Mark Cutkosky Barbara Mazzolai
Kenji Doya Anna Mura
Armin Duff Tony Prescott
Jose Halloy Barry Trimmer
Koh Hosoda Stefano Vassanelli
Auke Ijspeert Paul Verschure
Giacomo Indiveri
 Table of Contents

Full Papers
Monolithic Design and Fabrication of a 2-DOF Bio-Inspired Leg
Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Daniel M. Aukes, Önur Ozcan, and Robert J. Wood

Optimization of the Anticipatory Reflexes of a Computational Model

of the Cerebellum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Santiago Brandi, Ivan Herreros, and Paul F.M.J. Verschure

Evolving Optimal Swimming in Different Fluids: A Study Inspired by

batoid Fishes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Vito Cacucciolo, Francesco Corucci, Matteo Cianchetti, and
Cecilia Laschi

Bipedal Walking of an Octopus-Inspired Robot . . . . . . . . . . . . . . . . . . . . . . 35

Marcello Calisti, Francesco Corucci, Andrea Arienti, and
Cecilia Laschi

Action Selection within Short Time Windows . . . . . . . . . . . . . . . . . . . . . . . . 47

Holk Cruse and Malte Schilling

Modelling Legged Robot Multi-Body Dynamics Using Hierarchical

Virtual Prototype Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Mariapaola D’Imperio, Ferdinando Cannella, Fei Chen,
Daniele Catelani, Claudio Semini, and Darwin G. Caldwell

How Cockroaches Employ Wall-Following for Exploration . . . . . . . . . . . . . 72

Kathryn A. Daltorio, Brian T. Mirletz, Andrea Sterenstein,
Jui Chun Cheng, Adam Watson, Malavika Kesavan,
John A. Bender, Roy E. Ritzmann, and Roger D. Quinn

Machines Learning - Towards a New Synthetic Autobiographical

Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Mathew H. Evans, Charles W. Fox, and Tony J. Prescott

A Phase-Shifting Double-Wheg-Module for Realization of Wheg-Driven

Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Max Fremerey, Sebastian Köhring, Omar Nassar,
Manuel Schöne, Karl Weinmeister, Felix Becker,
Goran S. –Dord̄ević, and Hartmut Witte
XII Table of Contents

Design Principles for Cooperative Robots with Uncertainty-Aware and

Resource-Wise Adaptive Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Carlos Garcı́a-Saura, Francisco de Borja Rodrı́guez, and
Pablo Varona

Insect-Inspired Tactile Contour Sampling Using Vibration-Based

Robotic Antennae . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Thierry Hoinville, Nalin Harischandra, André F. Krause, and
Volker Dürr

A Predictive Model for Closed-Loop Collision Avoidance in a

Fly-Robotic Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Jiaqi V. Huang and Holger G. Krapp

Neuromechanical Simulation of an Inter-leg Controller for Tetrapod

Coordination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Alexander Hunt, Manuela Schmidt, Martin Fischer, and
Roger D. Quinn

A Minimum Attention Control Law for Ball Catching . . . . . . . . . . . . . . . . . 154

Cheongjae Jang, Jee-eun Lee, Sohee Lee, and Frank C. Park

Simulated Neural Dynamics Produces Adaptive Stepping and Stable

Transitions in a Robotic Leg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Matthew A. Klein, Nicholas S. Szczecinski, Roy E. Ritzmann, and
Roger D. Quinn

Blending in with the Shoal: Robotic Fish Swarms for Investigating

Strategies of Group Formation in Guppies . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Tim Landgraf, Hai Nguyen, Joseph Schröer, Angelika Szengel,
Romain J.G. Clément, David Bierbach, and Jens Krause

Capturing Stochastic Insect Movements with Liquid State Machines . . . . 190

Alexander Lonsberry, Kathryn Daltorio, and Roger D. Quinn

Acquisition of Synergistic Motor Responses through Cerebellar

Learning in a Robotic Postural Task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Giovanni Maffei, Marti Sanchez-Fibla, Ivan Herreros, and
Paul F.M.J. Verschure

I-CLIPS Brain: A Hybrid Cognitive System for Social Robots . . . . . . . . . . 213

Daniele Mazzei, Lorenzo Cominelli, Nicole Lazzeri,
Abolfazl Zaraki, and Danilo De Rossi

Change of Network Dynamics in a Neuro-robotic System . . . . . . . . . . . . . . 225

Irene Nava, Jacopo Tessadori, and Michela Chiappalone
 Table of Contents XIII

Enhanced Locomotion of a Spherical Robot Based on the Sea-urchin

Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
Jorge Ocampo-Jiménez, Angelica Muñoz-Meléndez, and
Gustavo Rodrı́guez-Gómez

Design of a Control Architecture for Habit Learning in Robots . . . . . . . . . 249

Erwan Renaudo, Benoı̂t Girard, Raja Chatila, and Mehdi Khamassi

Dynamic Model of a Jet-Propelled Soft Robot Inspired by the Octopus

Mantle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
Federico Renda, Frederic Boyer, and Cecilia Laschi

Hippocampal Based Model Reveals the Distinct Roles of Dentate Gyrus

and CA3 during Robotic Spatial Navigation . . . . . . . . . . . . . . . . . . . . . . . . . 273
Diogo Santos Pata, Alex Escuredo, Stéphane Lallée, and
Paul F.M.J. Verschure

Trajectory Control Strategy for Anthropomorphic Robotic Finger . . . . . . 284

Shouhei Shirafuji, Shuhei Ikemoto, and Koh Hosoda

Neuromechanical Mantis Model Replicates Animal Postures via

Biological Neural Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
Nicholas S. Szczecinski, Joshua P. Martin, Roy E. Ritzmann, and
Roger D. Quinn

A Natural Movement Database for Management, Documentation,

Visualization, Mining and Modeling of Locomotion Experiments . . . . . . . 308
Leslie M. Theunissen, Michael Hertrich, Cord Wiljes, Eduard Zell,
Christian Behler, André F. Krause, Holger H. Bekemeier,
Philipp Cimiano, Mario Botsch, and Volker Dürr

Benchmarking Human-Like Posture and Locomotion of Humanoid

Robots: A Preliminary Scheme . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
Diego Torricelli, Rahman S.M. Mizanoor, Jose Gonzalez,
Vittorio Lippi, Georg Hettich, Lorenz Asslaender, Maarten Weckx,
Bram Vanderborght, Strahinja Dosen, Massimo Sartori, Jie Zhao,
Steffen Schütz, Qi Liu, Thomas Mergner, Dirk Lefeber,
Dario Farina, Karsten Berns, and Jose Louis Pons

The Influence of Behavioral Complexity on Robot Perception . . . . . . . . . . 332

Vasiliki Vouloutsi, Klaudia Grechuta, Stéphane Lallée, and
Paul F.M.J. Verschure

Design and Control of a Tunable Compliance Actuator . . . . . . . . . . . . . . . 344

Victoria Webster, Ronald Leibach, Alexander Hunt,
Richard Bachmann, and Roger D. Quinn
XIV Table of Contents

An Experimental Eye-Tracking Study for the Design of a

Context-Dependent Social Robot Blinking Model . . . . . . . . . . . . . . . . . . . . 356
Abolfazl Zaraki, Maryam Banitalebi Dehkordi, Daniele Mazzei, and
Danilo De Rossi

Extended Abstracts
Motor Learning and Body Size within an Insect Brain Computational
Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367
Paolo Arena, Luca Patané, and Roland Strauss

Effects of Gaze Synchronization in Human-Robot Interaction . . . . . . . . . . 370

Stavroula Bampatzia, Vasiliki Vouloutsi, Klaudia Grechuta,
Stéphane Lallée, and Paul F.M.J. Verschure

Individual Differences and Biohybrid Societies . . . . . . . . . . . . . . . . . . . . . . . 374

Emily C. Collins and Tony J. Prescott

Programming Living Machines: The Case Study of Escherichia Coli . . . . 377

Jole Costanza, Luca Zammataro, and Giuseppe Nicosia

Force Contribution of Single Leg Joints in a Walking Hexapod . . . . . . . . . 380

Chris J. Dallmann and Josef Schmitz

High Resolution Tactile Sensors for Curved Robotic Fingertips . . . . . . . . . 383

Alin Drimus, Vince Jankovics, Matija Gorsic, and
Stefan Mátéfi-Tempfli

Adhesive Stress Distribution Measurement on a Gecko . . . . . . . . . . . . . . . . 386

Eric V. Eason, Elliot W. Hawkes, Marc Windheim,
David L. Christensen, Thomas Libby, and Mark R. Cutkosky

Design of an Articulation Mechanism for an Infant-like Vocal Robot

“Lingua” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Nobutsuna Endo, Tomohiro Kojima, Yuki Sasamoto,
Hisashi Ishihara, Takato Horii, and Minoru Asada

Optimising Robot Personalities for Symbiotic Interaction . . . . . . . . . . . . . . 392

Samuel Fernando, Emily C. Collins, Armin Duff, Roger K. Moore,
Paul F.M.J. Verschure, and Tony J. Prescott

A Bio-inspired Wing Driver for the Study of Insect-Scale Flight

Aerodynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396
Nick Gravish, Stacey Combes, and Robert J. Wood

Characterizing the Substrate Contact of Carpal Vibrissae of Rats

during Locomotion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
Thomas Helbig, Danja Voges, Sandra Niederschuh,
Manuela Schmidt, and Hartmut Witte
 Table of Contents XV

Self-organization of a Joint of Cardiomyocyte-Driven Robot . . . . . . . . . . . 402

Naoki Inoue, Masahiro Shimizu, and Koh Hosoda

Development of an Insect Size Micro Jumping Robot . . . . . . . . . . . . . . . . . 405

Je-Sung Koh and Kyu-jin Cho

Soil Mechanical Impedance Discrimination by a Soft Tactile Sensor for

a Bioinspired Robotic Root . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 408
Chiara Lucarotti, Massimo Totaro, Lucie Viry, Lucia Beccai, and
Barbara Mazzolai

Fetusoid35: A Robot Research Platform for Neural Development of

Both Fetuses and Preterm Infants and for Developmental Care . . . . . . . . 411
Hiroki Mori, Daii Akutsu, and Minoru Asada

High Speed Switched, Multi-channel Drive for High Voltage Dielectric

Actuation of a Biomimetic Sensory Array . . . . . . . . . . . . . . . . . . . . . . . . . . . 414
Martin J. Pearson and Tareq Assaf

A Combined CPG-Stretch Reflex Study on a Musculoskeletal

Pneumatic Quadruped . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417
Andre Rosendo, Xiangxiao Liu, Shogo Nakatsu,
Masahiro Shimizu, and Koh Hosoda

Swimming Locomotion of Xenopus Laevis Robot . . . . . . . . . . . . . . . . . . . . . 420

Ryo Sakai, Masahiro Shimizu, Hitoshi Aonuma, and Koh Hosoda

Empathy in Humanoid Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423

Marina Sardà Gou, Vasiliki Vouloutsi, Klaudia Grechuta,
Stéphane Lallée, and Paul F.M.J. Verschure

HECTOR, A Bio-Inspired and Compliant Hexapod Robot . . . . . . . . . . . . 427

Axel Schneider, Jan Paskarbeit, Malte Schilling, and Josef Schmitz

Gesture Recognition Using Temporal Population Coding and a

Conceptual Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 430
Jan Niklas Schneider, Stéphane Lallée, and Paul F.M.J. Verschure

Roving Robots Gain from an Orientation Algorithm of Fruit Flies and

Predict a Fly Decision-Making Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
Roland Strauss, Stefanie Flethe, José Antonio Villacorta,
Valeri A. Makarov, Manuel G. Velarde, Luca Patané, and
Paolo Arena
XVI Table of Contents

The Si elegans Project – The Challenges and Prospects of Emulating

Caenorhabditis elegans . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 436
Axel Blau, Frank Callaly, Seamus Cawley, Aedan Coffey,
Alessandro De Mauro, Gorka Epelde, Lorenzo Ferrara, Finn Krewer,
Carlo Liberale, Pedro Machado, Gregory Maclair,
Thomas-Martin McGinnity, Fearghal Morgan, Andoni Mujika,
Alessandro Petrushin, Gautier Robin, and John Wade

A Self-organising Animat Body Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439

Hiroki Urashima and Stuart P. Wilson

A Novel Bio-inspired Tactile Tumour Detection Concept for Capsule

Endoscopy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
Benjamin Winstone, Chris Melhuish, Sanja Dogramadzi,
Tony Pipe, and Mark Callaway

Electro-communicating Dummy Fish Initiate Group Behavior in the

Weakly Electric Fish Mormyrus rume . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446
Martin Worm, Tim Landgraf, Hai Nguyen, and
Gerhard von der Emde

A Concept of Exoskeleton Mechanism for Skill Enhancement . . . . . . . . . . 449

Tomoyuki Yamamoto and Hiroshi Ishiguro

Erratum
Individual Differences and Biohybrid Societies . . . . . . . . . . . . . . . . . . . . . . . E1
Emily C. Collins and Tony J. Prescott

Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453

 Monolithic Design and Fabrication of a 2-DOF
Bio-Inspired Leg Transmission

Daniel M. Aukes, Önur Ozcan, and Robert J. Wood

School of Engineering and Applied Sciences

Wyss Institute for Biologically Inspired Engineering
Harvard University, Cambridge MA

Abstract. We present the design of a new two degree-of-freedom trans-

mission intended for micro / meso-scale crawling robots which is com-
patible both with laminate manufacturing techniques and monolithic,
“pop-up” assembly methods. This is enabled through a new design suite
called “popupCAD”, a computer-aided design tool which anticipates
laminate manufacturing methods with a suite of operations which sim-
plify the existing design workflow. The design has been prototyped at
three times the anticpated scale to better understand the assembly and
motion kinematics, and simulated to establish the basic relationships
between the actuator and end-effector transmission ratios.

1 Introduction
The advent of new laminate-manufacturing techniques such as Printed-Circuit
MEMS (PC-MEMS) [9, 10], Smart Composite Micro-structures (SCM) [6, 11],
and Lamina Emergent Mechanisms (LEM) [4, 8] has enabled the development
of a new class of millimeter-scale devices. These manufacturing techniques use a
relatively small set of operations such as cutting, lamination, and folding to cre-
ate a variety of mechanical components, such as hinges, structural elements, and
springs. These devices are typically designed through the selective removal of
material across neighboring material layers to create planar mechanisms. By us-
ing multiple materials in the laminate, the mechanical properties of these devices
can be tuned for each component. Highly specialized devices can be developed
through the iterative use of these operations, and discrete components can be
added throughout the process. Using laser cutters to create precise alignment
geometry, highly complex kinematics can also be created between hinged rigid
bodies and utilized both for structures and mechanisms.
Through these new manufacturing techniques, a variety of new devices have
been realized, from flying micro-robots inspired by bees [10] to crawling robots

This material is based upon work supported by the National Science Foundation
(grant numbers EFRI-1240383 and CCF-1138967) and the Wyss Institute for Bio-
logically Inspired Engineering. Any opinions, findings, and conclusions or recommen-
dations expressed in this material are those of the authors and do not necessarily
reflect the views of the National Science Foundation.

A. Duff et al. (eds.): Living Machines 2014, LNAI 8608, pp. 1–10, 2014.

c Springer International Publishing Switzerland 2014
2 D.M. Aukes, Ö. Ozcan, and R.J. Wood

(a) (b)

Fig. 1. Prototype transmission in (a) flattened and (b) assembled configurations

[2, 3, 7]. In addition, [9] demonstrates monolithic assembly techniques for faster,
more precise manufacturing with a device called “Mobee”. For all the potential of
this concept, however, only this device has used monolithic “pop-up” fabrication
techniques. This is due in part to the lack of design software which encapsulates
laminate design and manufacturing rules; consequently the addition of assembly
scaffolds adds too much complexity to the average design. To work around such
complexities, designers split devices into simpler parts, ultimately relying on
manual assembly and locking operations which require dexterity and expertise.
Thus, manufacturing remains slow and error-prone.
In order to facilitate the transition from manual manufacturing of discrete
components to more automated, monolithic fabrication of entire robots, we
present preliminary work on a bio-inspired, two degree-of-freedom transmission
to be used in the leg of a crawling robot, which is compatible with the concepts
of PC-MEMS manufacturing and monolithic, “pop-up” assembly. This design is
composed entirely of elements which begin flat and pre-assembled in a laminate,
and by actuating and locking a single degree of freedom, are positioned into their
assembled state.

2 Device Overview
The motion of cockroach and centipede legs in robotic systems is often ap-
proximated as a two-degree-of-freedom system (lifting the foot up and down,
and swinging the foot forward and backward). We have previously built robots
inspired from these organisms using PC-MEMS fabrication methods with man-
ual [5] or popup assembly techniques [3] that can achieve two-degree-of-freedom
leg motion.
The device shown in Figure 2a consists of many individual linkages connected
through hinges on two sub-laminate layers. These linkages are arranged around
four spherical linkages: two six-bar rotational linkages (6R) and two four-bar
 Monolithic Design and Fabrication 3

Origin

1
K
K 2z

z
y
I2 y
I1

x
z z

y
x x

J1
z
A 2z
J2
z

1
A
y

x
y

x
x
y
B1
z
z
B2 x
y

y
x

C 1z
x
C
z

y
2
y
D1
x z

(a) (b)

Fig. 2. The full leg design is shown in in (a). Links of the upper 6R spherical mechanism
are translucent . Reference frames for the three linkages on the bottom sublaminate
are shown in (b).

rotational linkages(4R). Both linkages start in their flattened state, but rotate
in three-dimensional space about one point when actuated.
In combining the input and output stages of such linkages in various ways,
interesting kinematic properties can be exploited. For example, the output stage
of the 6R spherical linkage used in Figure 1 has the properties of a spherical
joint, with three degrees of freedom in rotation. Two grounded spherical linkages
whose output stages are rigidly connected, however, are more constrained in their
motion, acting as a single degree-of-freedom rotational hinge. Similarly, four-bar
linkages exhibit only a single degree of freedom between input and output stages,
yet can impart highly nonlinear motion relationships between the two. Yet all
these devices start flat and are thus compatible with PC-MEMS manufacturing
processes, making them ideal building blocks for pop-up compatible designs.
In this design, the connection of these elementary building blocks mimics
structures seen in biology. Multiple degrees of freedom can be seen in the hu-
man hip joint, for example, where ball-and-socket mechanisms in the bones and
cartilege provide smooth rotation across a wide range of angles. Yet the mo-
tion of joints such as this is rarely constrained by a single mechanism but are
complemented by a redundant set of muscles and tendons which route across
and between joints, guiding, supporting and restricting motion. In this way, the
leg mechanism, with its redundant-yet-constrained six bar linkgages, provides
a more-limited degree of motion than each subcomponent independently would
capable of delivering – and in a way which is inherently more manufactuable.
Parallels to this concept are prevalent in biological systems as well, where the
capabilities of the integrated system are greater than the sum of its parts.
4 D.M. Aukes, Ö. Ozcan, and R.J. Wood

3 CAD Design, Fabrication, and Materials

The initial design of the device is carried out in Solidworks in order to test the de-
sign concept and perform initial kinematic simulations. However, the Solidworks
design only includes basic sketches of the layers, and not detailed drawings of fea-
tures. The actual design used for fabrication is done using a new Computer Aided
Design and Manufacturing (CAD/CAM) application called popupCAD [1]. Tra-
ditional CAD/CAM software, such as Solidworks, does not have any built-in
tools to help with unconventional manufacturing methods such as PC-MEMS
or SCM. On the other hand, popupCAD is specifically designed for layer-based
manufacturing methods. The software automatically generates cut files using
PC-MEMS and Pop-Up MEMS design and fabrication rules. It also has several
operations specific to layer-based design and fabrication methods (e.g. gener-
ating support structures around features). In order to take advantage of these
software features, we have imported the Solidworks sketches into popupCAD as
guidelines, completed the design by adding the necessary PC-MEMS features
such as hinges and support web, and generated the cut files in popupCAD. An
example initial cut file and the final cut file used to fabricate the device is shown
in Figure 3.

(a) First Pass Cuts (b) Second Pass Cuts

Fig. 3. First and Second Pass Cuts

The device is fabricated using SCM [6, 11] and Pop-Up Manufacturing / As-
sembly methods [9, 10], outlined in Figure 4. Due to the kinematic loops in the
mechanism, the device cannot fit on a single linkage sublaminate. Therefore the
complete device requires two linkage sublaminates. Each linkage sublaminate
consists of five layers: two outer cardboard layers for rigid links, a polyimide
(Kapton) layer that forms the joints, and two adhesive layers made of double
sided acrylic tape that bond these functional layers. In order to generate the two
linkage sublaminates needed for the device, we need 11 layers: five layers per
linkage sublaminate and a layer of adhesive that connects the two linkage sub-
laminates. The linkage sublaminate layers are first bulk micro-machined individ-
ually using a CO2 laser (Universal Laser Systems, PL3.50) and a layup is formed
using pin alignment. Rigid links can be formed by retaining stiff material layers;
likewise, hinges are defined by regions where the stiff cardboard is removed and
polyimide is retained, allowing neighboring stiff regions to move relative to each
other. To bond the two sublaminates together, an adhesive layer is defined by
the intersecting geometries between neighboring sublaminates, forming islands
 Monolithic Design and Fabrication 5

of material which must be selectively added during the stacking procedure; a

negative of this pattern is thus cut from polyimide film and used as a mask to
selectively spray adhesive (3M Hi-Strength 90 Spray Adhesive) in the required
pattern. The cut files for these all these geometries are automatically gener-
ated by popupCAD, which is able to account for any material which becomes
obscured after lamination.

Fig. 4. The Device Fabrication Process.

4 Kinematics
Four kinematic loops determine the transmission characteristics between the
actuators and the leg. The two 6R spherical linkages establish one kinematic loop
each, and the two 4R spherical linkages define two additional kinematic loops.
One of the six-bar linkages is shown in Figure 2b. Frames A1 ,B1 ,C1 ,D1 ,A2 ,B2 ,C2 ,
and D2 belonging to this linkage can be used to generate the kinematic loop
equations, which are generated by aligning the basis vectors of frames D1 and
D2 using the equations

Table 1. Denavit-Hartenberg Parameters

Frame A1 B1 C1 D1 A2 B2 C2 D2 E1 F1 G1 H1
Parent Base A1 B1 C1 Base A2 B2 C2 Base E1 F1 G1
a 0 0 0 0 0 0 0 0 1 0 0 0
ai 0 0 0 0 0 0 0 0 0 0 0 0
αi −π/4 π/4 π/4 −π/4 −3π/4 −π/4 −π/4 −3π/4 −π/4 π/4 π/4 −π/4
∗ ∗ ∗ ∗ ∗ ∗ ∗
θi −qa1 qb1 −qc1 0 qa2 −qb2 qc2 0 −qe1 qf∗1 ∗
−qg1 0
Frame E2 F2 G2 H2 I1 J1 K1 L1 I2 J2 K2 L2
Parent Base E2 F2 G2 Base A1 I1 K1 Base A2 I2 K2
a 1 0 0 0 1 0 0 0 1 0 0 0
ai 0 0 0 0 0 0 0 0 0 0 0 0
αi −3π/4 −π/4 −π/4 −3π/4 0 −π/4 −π/4 −π/4 0 −π/4 −3π/4 π/4
∗
θi qe2 −qf∗2 qg2
∗
0 −qi1∗ ∗
qj1 ∗
qk1 0 ∗
−qi2 ∗
−qj2 ∗
−qk2 0
∗
indicates state variable.
6 D.M. Aukes, Ö. Ozcan, and R.J. Wood

1 · x
0=x 2 − 1 (1)

0 = y1 · y2 − 1 (2)

0 = z1 · z2 − 1, (3)

where x1 , y1 , z1 and x2 , y2 , z2 represent the orthonormal basis vectors for frames

D1 and D2 , respectively. These three equations establish a relationship between
the six state variables qa1 , qb1 , qc1 , qa2 , qb2 , and qc2 , establishing that the output
frame D1 has three rotational degrees of freedom. Between the newtonian refer-
ence frame(the base frame) and D1 , this mechanism can be treated as a spherical
joint.
The second 6R spherical linkage consisting of frames E1 ,F1 ,G1 ,H1 ,E2 ,F2 ,G2 ,
and H2 behaves like the first, establishing the spherical loop constraint equations
between H1 and H2 using Equations (1-3). The outputs of the two 6R spherical
linkages are connected by a 2R linkage which enforces orientation between the
frames D1 and H1 using Equations (1-3) and

ny × d1z ) · (
0 = ( ny × d1z ) − 1, (4)

where nz represents the z-oriented basis vector of the Newtonian reference frame.
Figure 5 highlights the output degrees of freedom produced by the above con-
straint equations. The six-bar linkages have been replaced with equivalent spher-
ical joints and input links have been omitted for clarity.

(a) (b)

Fig. 5. An equivalent leg mechanism. In (a), the output stage of the leg is represented
by spherical and revolute joints. Input linkages are omitted for clarity. In (b), the two
degrees of freedom are highlighted by a variety of leg positions.
 Monolithic Design and Fabrication 7

The two 4R spherical linkages, defined by the frames {A1 , I1 , J1 , K1 } and

{A2 , I2 , J2 , K2 } respectively, are used to transmit the linear forces from each
piezo-electric actuator into frames A1 and A2 of the bottom 6R spherical linkage.
Frames J1 and J2 are aligned with K1 and K2 respectively using Equations (1-
3). Thus for the four kinematic loops, 10 constraint equations can be established
for the 12 state variables, establishing a two degree-of-freedom system.
Using the principle of virtual work, two Jacobians of the constraint equations
may be obtained for the independent and dependent state variables by taking
the partial derivative of the vector of constraint equations f (q) with respect to
to each variable in qind and qdep to obtain Jind and Jdep , respectively. Two
state variables must be selected for the independent state vector, so in this case
we pick qind = [qi1 , qi2 ]T . The rest are put in qdep . The Jacobians can then be
derived according to

0 = Jind q̇ind + Jdep q̇dep , (5)

−Jdep q̇dep = Jind q̇ind , and (6)
−1
q̇dep = −Jdep Jind q̇ind . (7)
  
T

The position of the actuator input and leg output can be represented in terms
of the independent and dependent state variables qind and qdep , respectively.
This permits the calculation of input and output Jacobians as

q̇in = Aq̇ind + B q̇dep (8)

q̇out = C q̇ind + Dq̇dep . (9)

By combining Equations (7-9), a direct relationship between input and output

velocities can be determined, as

q̇in = (A + BT ) q̇ind (10)

  
E
q̇out = (C + DT ) q̇ind (11)
  
F
q̇out = F E −1 q̇in . (12)

These equations permit the calculation of the input/output transmission ratios

and the resulting output path as a function of a valid initial state, as shown in
Figure 6.

5 Discussion

A motion study has been performed for the constrained mechanism, determining
output trajectories and velocities as a function of actuator input signal. A vari-
ety of input signals were tested, with the results from three simulations shown
8 D.M. Aukes, Ö. Ozcan, and R.J. Wood

Fig. 6. Transmission Plots for three different input signals. In the first simulation,
inputs are driven in phase, highlighting the lift degree of freedom. In the second simu-
lation, a phase shift of π is used to highlight the swing degree of freedom. In the third
simulation, a phase shift of π/2 shows a more-circular foot path typical of that likely
to be used during walking. In these simulations, the x-axis is into the page.

in Figure 6. As can be seen in the plots of the three simulations, driving the
signals in phase with each other produces lift motion in the leg (along ny ), and
differential signals produce swing motion (motion along n z ). By supplying com-
binations of input and phase offset, a variety of trajectories can be produced, as
seen in the third simulation of Figure 6.

6 Future Work
Several initial prototypes were constructed in order to understand the kinemat-
ics of this rather non-intuitive device. While these prototypes were useful for
confirming the basic kinematics of the device, they were not ideal in terms of
their hinges’ functionality. This is due to the large gap between rigid elements, as
well as to the non-zero thickness of the stacked cardboard, kapton, and adhesive.
Future prototypes will be constructed with the materials used in the PC-MEMS
paradigm, which will allow these hinges to perform more ideally. At that point,
a full characterization of leg kinematics will be performed.
In addition, while the leg design presented in this paper utilizes concepts often
seen in biology, we have not yet optimized it to match any biological system
seen in nature. This will occur later in the design process, at which point it will
accompany a much more in-depth performance analysis.
 Monolithic Design and Fabrication 9

7 Conclusions

In this paper we have presented the initial design and kinematic evaluation for
a bio-inspired leg transmission, suitable for integration into new crawling robot
designs. Work is continuing in this direction, both on leg design and integration
issues. While this transmission offers similar capabilities to the legs employed
in current-generation legs, it offers the additional compatibility with monolithic
assembly methods which can help reduce errors during assembly and speed up
the process. As design criteria for these new robots become more developed, the
models developed here can become the basis for further design and optimiza-
tion of the transmission. In particular, the study of the dynamics of this new
device will be crucial in evaluating and comparing current and future designs.
In addition, by deriving the inverse kinematics of the leg, complex custom foot
trajectories may be generated as a function of the two actuators.
The mechanism presented in this work is also ideal for insect-inspired robots
due to its size and two-degree-of-freedom output. Since the mechanism includes
the actuators, transmission, and the leg in a single system, it can be considered
modular; i.e. several of them can be connected together to form a quadruped,
hexapod, or a centipede-inspired multi-legged modular robot. We plan to use the
mechanism presented in a centipede-inspired modular robot in the near future.

References
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1.7g ambulatory robot. In: 2011 IEEE/RSJ International Conference on Intelligent
Robots and Systems, pp. 5073–5079. IEEE (September 2011)
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for a Quadrupedal Microrobot. International Journal of Robotics Research (2014)
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Emergent Mechanisms. Journal of Mechanical Design 133(8), 081006 (2011)
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pod millirobot. In: 2011 IEEE/RSJ International Conference on Intelligent Robots
and Systems, vol. 2, pp. 1479–1486. IEEE (September 2011)
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pod robot. In: 2008 IEEE/RSJ International Conference on Intelligent Robots and
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 Optimization of the Anticipatory Reflexes
of a Computational Model of the Cerebellum

Santiago Brandi1 , Ivan Herreros1, and Paul F.M.J. Verschure1,2

1
SPECS, Technology Department, Universitat Pompeu Fabra,
Carrer de Roc Boronat 138, 08018 Barcelona, Spain
2
ICREA, Institucio Catalana de Recerca i Estudis Avan cats,
Passeig Llu s Companys 23, 08010 Barcelona
{santiago.brandi,ivan.herreros,paul.verschure}@upf.edu

Abstract. The cerebellum is involved in avoidance learning tasks, where

anticipatory actions are developed to protect against aversive stimuli. In
the execution and acquisition of discrete actions we can distinguish errors
of omission and commission due to a failure to execute a required de-
fensive Conditioned Response (CR) to avoid an aversive Unconditioned
Stimulus (US), and the energy expenditure of triggering an unnecessary
CR in the absence of a US respectively. Hence, a motor learning cost
function must consider both these components of performance and en-
ergy expenditure. Unlike remaining noxious stimuli, unnecessary actions
are not directly sensed by the cerebellum. It has been suggested that
the Nucleo-Olivary Inhibition (NOI) serves to internally rely information
about these needless protective actions. Here we argue that the function
of the NOI can be interpreted in broader terms as a signal that is used
to learn optimal actions in terms of cost. We work with a computational
model of the cerebellum to address: (i) how can the optimum balance
between remaining aversive stimuli and preventing effort be found, and
(ii) how can the cerebellum use the overall cost information to establish
this optimum balance through the adjusting of the gain of the NOI. In
this paper we derive the value of the NOI that minimizes the overall cost
and propose a learning rule for the cerebellum through which this value
is reached. We test this rule in a collision avoidance task performed by
a simulated robot.

Keywords: cerebellum, nucleo-olivary inhibition, adaptive reflexes, cost

minimization.

1 Introduction
When we avoid a specific disturbance, e.g., avoiding getting hit when boxing, we
want our actions to be not only effective but also efficient. For example, excessive
ducking would serve to elude the hit but would also mean a waste of energy. A
general principle underlying this type of problems is that the way we behave
carries a cost composed of (1) the disturbance we fail to prevent -in this case
getting hit- and (2) the preventing action itself -the evading movement-. The
optimum actions will be those that minimize the overall cost.

A. Duff et al. (eds.): Living Machines 2014, LNAI 8608, pp. 11–22, 2014.

c Springer International Publishing Switzerland 2014
12 S. Brandi, I. Herreros, and P.F.M.J. Verschure

One of the characteristics of avoidance tasks is that when we fail to prevent a

disturbance (U S) we receive direct feedback, but there is no sensory input when
we perform an excessive preventive action, i.e., there is no negative U S when
aversive stimuli don’t arrive. In other words, to a great extent our sensory system
might not sense the lack of an expected disturbance as something different from
the lack of an unexpected disturbance.
The cerebellum takes part in Avoidance Learning (AL) tasks where adap-
tive reflexes are developed to prevent disturbances caused by a noxious stimulus
[Thompson, 1976]. One example of avoidance learning is the eye-blink condition-
ing paradigm, where subjects learn to develop predictive blinking to protect the
eye from an air puff announced by a cue such as a tone [Hesslow and Yeo, 2002].
One of the characteristics of eye-blink conditioned responses is that after acqui-
sition they are extinguished when no longer necessary. Therefore, the cerebellum
must have access to an internally generated signal coding for unnecessary ac-
tions. It has been suggested that the Nucleo-Olivary Inhibition (NOI) serves as
such a signal in the absence of aversive stimuli [Medina et al., 2002].
The Inferior Olive (IO), which activity serves as a teaching signal for the cere-
bellum, is excited by the U S and inhibited by the deep cerebellar nuclei through
the NOI. The bigger the gain of the NOI (knoi ), the smaller the output neces-
sary to cancel the signal produced by the U S. The learning stops when these two
signals cancel out and the teaching signal is zero. The aversive stimulus that re-
mains triggers a reactive reflex. Therefore, the balance between the amplitude of
cerebellar -adaptive- responses and the reactive reflexes is modulated by knoi . A
detailed explanation on how the value of knoi can determine the balance between
adaptive and reactive reflexes can be found in [Herreros and Verschure, 2013].
As a short note, adaptive reflexes are learned preventive actions that anticipate
aversive stimuli and are triggered by cues (e.g. blinking after hearing the tone).
Reactive reflexes respond to the noxious stimuli (e.g., blinking after perceiving
the air-puff) and their amplitude depends on the intensity of the latter.
This implies that knoi can establish the final balance between the disturbance
perceived and the effort of the preventing actions. Since both the disturbances
and the preventing actions carry a cost we propose that the modulation of the
knoi serves to minimize the overall cost of our behaviour in an AL task.
In this paper we will investigate (i) how can the optimum balance between an-
ticipatory and reactive actions be found and, assuming that the balance between
both types of actions is determined by the gain of the NOI; (ii) what plasticity
mechanism might allow this optimal gain to be reached on-line using global cost
information. We will first arrive to an analytic relation between kopt (the value
of knoi that minimizes the cost) and the parameters of our cost function when
the task is the control of a zero-order plant. Next we will heuristically define an
on-line learning rule and verify that it makes knoi converge to kopt in the same
control task. Finally we will replicate this results in a simulated collision avoid-
ance task to prove that the learning rule results in an approximated convergence
of the gain of NOI to its optimal value.
 Optimization of the Anticipatory Reflexes of a Computational Model 13

2 Methods
2.1 Basic Cerebellar Model
We use a rate-based computational model of the cerebellar microcircuit as im-
plemented in [Herreros, 2013]. The signal conveyed by the mossy fibres pathway
(cue) is decomposed into several signals to resemble the expansion of information
into cortical basis that occurs in the cerebellar granular layer.
In our model the cortical basis are generated by convolving the signal coming
from the mossy fibres with two exponentials, an economic way to model the
dynamics of granule cells responses. Therefore the profile of the basis response
to a pulse input is that of an alpha function, where the time constants of the
exponentials determine the temporal span and profile of the basis. The time
constants of the exponentials are randomly drawn from two different ranges as
to generate basis with different profiles, this variety allows the model to produce
a wide range of output shapes. For more details on construction of the cortical
basis see [Herreros et al., 2013].
The output of the microcircuit (adaptive response) is the sum of the half-wave
rectified weighted components [Lepora et al., 2010]:

y(t) = [wT x(t)]+ (1)

where x(t) and w are the (column) vectors of basis and weights respectively.
The bank of dynamic weights w is updated according to the decorrelation
rule [Fujita, 1982]:
Δw = βe(t)x(t − δ) (2)
where β is the learning factor, e(t) is an error signal coming from the inferior
olive (see fig. 1) and the delay δ corresponds to the latency of the error feedback
[Miall et al., 2007]. The decorrelation rule assures that w will converge to the
values that minimize the error signal squared.

2.2 Cost Function

The cost function is a weighted sum of both the norm squared of the performance
error (ŷ(t)) and the effort of the preventing actions, cerror and cactions are the
respective cost weights:

C= cerror (ŷ(t))2 + cactions (y(t))2 dt (3)
T

Note that this is the same cost function used in the framework of controller
design with Linear Quadratic Regulators [Aström and Murray, 2010].

2.3 Zero-Order Plant Control Task

To analytically study the properties of the cerebellar controller with NOI, we
use a set-up where the controller is connected to a stateless plant (zero-order).
Another random document with
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It was only the vicar's dog who had accidentally found his way in, but he was dressed in a paper cap,
and though he turned his head from side to side he could not get it off.

There was holly on the stair-rail and it pricked Noel; he leant over farther to get away from it, and
then to the horror of Nurse, who had followed him out, she saw him over balance himself, and with a
sudden awful thud, his little figure fell, his head striking the tiled floor of the hall with awful force.

Chris uttered a horrified cry which brought his mother out of her room.

She was the first to reach her darling, and raised him in her arms; but he lay still and unconscious. It
had been so swift, so sudden an accident, that he had not had time to utter a cry.

The little household gathered round him.

"He is killed!" cried Diana and Chris together.

"No—no—stunned!" said Mrs. Inglefield in her agony, still striving to allay the fears of her children.

Then she turned to Chris:

"Fetch the doctor. Go on your bicycle. Nurse, come with me."

Diana watched the limp, unconscious form of her small brother being carried upstairs. Mrs. Tubbs
followed Nurse; Cassy put her apron up to her eyes and began to cry.

"Oh, Miss Diana, 'tis his birthday; what an end to it!"

Diana seemed turned to stone.

How and why did these things happen? They were all so happy a few minutes ago, and now Noel
was perhaps dead and would never speak or laugh again.

She went slowly into the dining-room. The tea was all laid upon the table, the silver kettle boiling over
the methylated lamp. They would have all been sitting round the table now, mother would be pouring
out the tea, Noel's cake would have delighted him. It was a surprise—made by Mrs. Tubbs, who had
put her very best work into it. It was a big iced cake, and had seven candles upon it. In the centre
was a tiny little Christmas tree—a copy of Noel's. Its leaves and branches were frosted with sugar
and a robin perched on the topmost branch. In pink letters on the white surface was written:

"Noel Inglefield. Happy Returns of his Birthday,

and best Christmas Wishes."

As Diana gazed at the cake, tears crowded into her eyes.

Noel's cake! And he might never see it!

There were crackers round the table. What fun they would have had! There were jam sandwiches
and sugarcoated biscuits, and coco-nut cakes and shortbread.

Who would enjoy the tea now, when Noel lay dead or dying upstairs?

"Oh, it's awful! awful!" she cried, "worse than anything I have ever thought of or made up for my
stories! And I've spoken so crossly to him to-day, even though it was his birthday! Oh, what shall we
do! What shall we do!"
When Chris returned he found Diana pacing the hall like a demented person.

The doctor followed on his heels, and with two or three strides had mounted the stairs and gone into
the nursery.

"Oh, Chris," said Diana with tearful eyes, "what shall we do? I believe he is quite dead already."

"He can't be," said Chris. "Wasn't it awful seeing him fall! I've been thinking the whole way along to
the doctor's and back, of my cross words to him about the carol. We haven't been kind to him, Dinah
—over and over again we haven't! And we can't ask him to forgive us. And it's his birthday. Do you
think we could pray to God? Noel gets all his prayers answered, he says."

"He's so fond of God," moaned Diana; "perhaps God is very fond of him and wants him in heaven. I
wish mother would come to us."

But it was a long while before their mother came, and when she did, all the glow and brightness of
her face had vanished. She and the doctor went into her boudoir and talked a little, and then he went
away, saying:

"I'll be up the first thing in the morning, but there's nothing more can be done."

Then Chris and Diana crept up to their mother.

"Is he dead, Mums?" Chris whispered.

Mrs. Inglefield looked at them sorrowfully.

"He is very, very ill, dear. It is bad concussion of the brain, and he may be unconscious for a long
time. We must ask God to spare his precious little life."

A choke came in her voice, then she seemed to pull herself together.

"We must have some tea. Nurse is watching by him, and I will go and relieve her soon. Come along."

That was a most miserable meal for both mother and children.

Noel's chair opposite his cake was empty. His cheerful little voice, which was always making itself
heard, was hushed and silent now. Would they ever hear it again, his mother wondered?

And at last in desperation Chris spoke out his thoughts:

"Why has God let it happen on his birthday and on Christmas night, Mums? Any other time it
wouldn't have been so bad."

"Be quiet," said Diana in a whisper, giving him an angry nudge. "You'll only make Mums more
miserable."

Mrs. Inglefield caught the whisper.

"No, he won't, dear. God loves Noel better than any of us. He has sent this trouble to us for some
good reason. We must never question God's will."

The children were silent. They were glad when tea was over, but when their mother left them to
return to the sickroom, they wandered about the house, not knowing what to do with themselves.
Nurse came down at last, and told them that they must keep out of the nursery, as Noel must be kept
as quiet as possible.
"I should go to bed early if I were you," she told them. "Perhaps your little brother will be better to-
morrow morning."

"I know why God has let this accident happen," said Diana to Chris when Nurse had left them, and
they had gone into their mother's boudoir, and sitting down on two chairs near the fire had faced
each other in despairing silence; "it is to punish us. We haven't been good to him. We haven't loved
him, and now God is going to take him away from us."

"We'll miss him horribly if he dies," said Chris. "I wouldn't let him ride my bicycle the day before
yesterday."

"And I pushed him out of the nursery when I was writing," said Diana; "and told him he was a horrid
little bother."

These torturing memories went with them when they went to bed.

For the first time their mother failed to come and wish them good night. Nurse was having her
supper, and Mrs. Inglefield could not leave Noel.

But she did not forget them; only later on, when she did come, they had both forgotten their regrets,
and remorse, in sleep.

The following days were very sad. Noel lay unconscious for two days and two nights; and then when
he was able to eat, and take notice, his memory seemed to have left him. The house had to be kept
very quiet, and for days his life seemed to hang upon a thread.

It was astonishing how many friends the little fellow had. The back door was besieged by the
villagers during the first few days of his illness. Foster took the Christmas tree out of the drawing-
room and planted it in its old bed, but as he did so he was heard murmuring to himself:

"We'll never see his like again. He were too near heaven for a little chap like him!"

Mr. Wargrave, Miss Constance, Ted and Inez, all tried in turns to comfort and amuse poor Chris and
Diana.

As the days went on they began to hope, and when at last the doctor said that Noel was going to pull
through, they cheered up and began to smile once more.

But they were not allowed to see him. Mrs. Inglefield looked worn to a shadow; it was heart-breaking
to her to see her busy chattering little son lying in listless apathy on his bed, only moving his head to
and fro, and hardly recognizing his own mother.

Chris had to return to school before Noel was convalescent. Just before he went his mother let him
come in and see the little patient. Chris could hardly believe that the tiny pinched face with the big
restless eyes belonged to rosy, sturdy Noel.

He stooped over and kissed him very gently, and called him by name; but Noel took no notice, only
moved his head restlessly from side to side.

And Chris went out of the room fighting with his tears. The very next day Diana said to her mother:

"Will Noel never get better, Mums? God isn't answering our prayers. I pray ever so many times in the
day about him."

"Oh," cried her mother in anguish of tone, "don't pray too hard, darling, that we may keep him here.
God knows best. For his sake I dare not pray too earnestly for his recovery."
Diana could not understand this until she talked to Mrs. Tubbs in the kitchen about it.

"Bless your heart, missy, your poor mother is afraid he'll never get his senses again. Some is left
idiots after such a blow in the head. And Master Noel knows nobody yet, and p'r'aps never will."

This was a fresh horror to Diana. It was a good thing for her when Miss Morgan returned and lessons
began again.

But at last steady improvement set in, and Mrs. Inglefield went about with the light again in her eyes
and a smile upon her lips.

Inez came to wish Diana good-bye upon the day when the doctor was for the first time hopeful. She
was going to school, and had been dreadfully distressed about Noel.

"I liked him the best of you," she said; "he was always so funny and so naughty, and yet so very
good. And he talked like an angel. He's taught me more than anybody else, and I'm going to school
with quite a good character."

"I'll write to you, Inez, and tell you about him," said Diana, "and perhaps you'll like me to send you a
bit of my new story sometimes."

"I should love it."

They parted. Diana felt very lonely; she had never imagined that she would miss Noel so very much.

And then one Saturday when Chris was home, he and she went upstairs together to sit for a short
time with the little invalid.

He was decidedly better, his eyes were dear and bright, and he was able to talk a little, though his
voice was husky and weak. He smiled when he saw them.

"I've been very ill," he announced to them.

"Yes," said Diana, "we've missed you dreadfully, Noel. It will be nice when you're quite well again."

"I b'lieve," said Noel in his old slow way, "that I've been away to heaven, only I can't remember. I
know I haven't been here all the time."

Chris stooped over him:

"We'll never be cross to you again, Noel, never."

Noel looked at him, then asked gravely:

"Do you love me now?"

And Chris and Diana both cried out with all their hearts:

"Indeed we do. We'll always love you."

Noel smiled contentedly. Then after a pause he said: "Then will you be kind to my Chris'mas tree?
Will you give him some water and take care of him?"

"I'll water him every day," Diana rashly promised.

The interview was over; but Noel began to recover rapidly. It was a happy day when he was
downstairs again: and the first thing he did was to totter out into the garden, and make his way to his
beloved fir tree.

It stood there, looking rather bedraggled, and showing a great gap where the branch had been cut
off.

Noel was distressed at first, and then Chris, who was with him, said:

"He is like a soldier who has lost his arm in fighting for his King."

Noel's whole face brightened as he said:

"And he gave his branch to God for Jesus' birfday." He was comforted.

That same day, Bessie Sharpe came up to tell Mrs. Inglefield that her father had quietly passed
away.

"He were always talking of Master Noel. The last thing he said was, 'Tell Master Noel when he's well
enough to hear it, that my time of waiting is over and I'm going like his Christmas tree, to be taken in
for my Master's glory.'"

This message was given to Noel. He quite understood it.

"And Mr. Sharpe will be covered with glory," he said. "Everybody who goes to heaven will be like
Christmas trees lighted up. I almost wish I had wented there."

But Chris and Diana had cried out together:

"We want you here."

And their mother looked at them with a smile upon her face and deep thankfulness in her heart. She
knew now what had been the purpose in Noel's accident and illness. It was to bring the brothers and
sister closer together, and to bind them in a strong chain of love and understanding that would not
break under any provocation.

And Noel cried out:

"And I want to be here, for I love you all, specially—my dear Christmas tree."
 *** END OF THE PROJECT GUTENBERG EBOOK NOEL'S
CHRISTMAS TREE ***

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