Dynamical Systems, Wave-Based Computation and Neuro-Inspired Robots
This volume is a special Issue on "Dynamical Systems, Wave based computation and neuro inspired robots'^ based on a Course carried out at the CISM in Udine (Italy), the last week of September, 2003. From the topics treated within that Course, several new
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SpringerWienNewYork
CISM COURSES AND LECTURES
Series Editors: The Rectors Giulio Maier - Milan Jean Salen9on - Palaiseau Wilhelm Schneider - Wien The Secretary General Bemhard Schrefler - Padua
Executive Editor Paolo Serafini - Udine
The series presents lecture notes, monographs, edited works and proceedings in the field of Mechanics, Engineering, Computer Science and Applied Mathematics. Purpose of the series is to make known in the international scientific and technical community results obtained in some of the activities organized by CISM, the International Centre for Mechanical Sciences.
INTERNATIONAL CENTRE FOR MECHANICAL SCIENCES COURSES AND LECTURES - No. 500
DYNAMICAL SYSTEMS, WAVE-BASED COMPUTATION AND NEURO-INSPIRED ROBOTS
EDITED BY PAOLO ARENA UNIVERSITY OF CATANIA, ITALY
SpringerWien NewYork
This volume contains 126 illustrations
This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned specifically those of translation, reprinting, re-use of illustrations, broadcasting, reproduction by photocopying machine or similar means, and storage in data banks. © 2008 by CISM, Udine Printed in Italy SPIN 12244348
All contributions have been typeset by the authors.
ISBN 978-3-211-78774-8 SpringerWienNewYork
PREFACE This volume is a special Issue on "Dynamical Systems, Wave-based computation and neuro-inspired robots'^ based on a Course carried out at the CISM in Udine (Italy), the last week of September, 2003. From the topics treated within that Course, several new ideas were formulated, which led to a new kind of approach to locomotion and perception, grounded both on biologically inspired issues and on nonlinear dynamics. The Course was characterised by a high degree of multidisciplinarity. In fact, in order to conceive, design and build neuroinspired machines, it is necessary to deeply scan into different disciplines, including neuroscience. Artificial Intelligence, Biorobotics, Dynamical Systems theory and Electronics. New types of moving machines should be more closely related to the biological rules, not discarding the real implementation issues. The recipe has to include neurobiological paradigms as well as behavioral aspects from the one hand, new circuit paradigms, able of real time control of multi joint robots on the other hand. These new circuit paradigms are based on the theory of complex nonlinear dynamical systems, where aggregates of simple non linear units into ensembles of lattices, have the property that the solution set is much richer than that one shown by the single units. As a consequence, new solutions ^'emerge'\ which are often characterized by order and harmony. Locomotion in livings is a clear example of this concept: ordered motion is the solution of a great amount of concurrently co-operating neurons; neural ^^computation^^ is also rather ^^wave based^\ than %it based". In this direction, continuous time spatial temporal dynamical circuits and systems are the paradigmatic mirror of neural computation. The volume
