Author: Ismael Baira Ojeda

Collaboration between scientists and developers towards integration work in the NRP

Visual-motor coordination is a key research field for understanding our brain and for developing new brain-like technologies.

To address the development and evaluation of bio-inspired control architectures based on cerebellar features, SP10 scientists and developers are collaborating in the implementation of several experiments in the Neurorobotics Platform.

Ismael Baira Ojeda from the Technical University of Denmark (DTU) visited the Scuola Superiore Sant’Anna (Pisa, Italy) to integrate the Adaptive Feedback Error Learning architecture [1] into the Neurorobotics Platform using the iCub humanoid robot. This control architecture uses a combination of Machine Learning techniques and cerebellar-like microcircuits in order to give an optimized input space [2], a fast learning and accuracy for the motor control of robots. In the experiment, the iCub was commanded to balance a ball towards the center of a board, which the iCub held in its hand.

The experiment was later refined and finished during the Install Party hosted by Fortiss (April 2017).

Next, the AFEL architecture could be scaled up and combined with vision and motor control breakthroughs within the different SPs.

Thanks to all the scientists and developers for your support, especially Lorenzo Vannucci, Alessandro Ambrosano and Kenny Sharma!

iCub ball balancing
The prototype experiment running on the Neurorobotics Platform.


[1] Tolu, S., Vanegas, M., Luque, N. R., Garrido, J. A., & Ros, E. (2012). Bio-inspired adaptive feedback error learning architecture for motor control. Biological Cybernetics, 1-16.

[2] Vijayakumar, S., D’souza, A., & Schaal, S. (2005). Incremental online learning in high dimensions. Neural Computation, 17(12), 2602-2634.

Advertisements came to interview DTU Center for Playware!

by Ismael Baira Ojeda ¦ Research assistant at DTU – Center for Playware.

The research of the DTU Center for Playware and the Human Brain Project does not go unnoticed in Denmark.


Professor Henrik Hautop Lund is in charge of Denmark’s contribution to a major EU project to map the human brain. His group of researchers including Silvia Tolu and Ismael Baira Ojeda at the DTU Center for Playware are developing cerebellar-like models that together with machine learning algorithms are controlling and teaching modular robots how to move (Photo: Henrik Hautop Lund, DTU Electrical Engineering).

Following, a translation of the article:

Artificial brains to provide innovative brain-like technologies.

Approximately 100 research groups collaborate within The Human Brain Project, working at different topics regarding neuroscientific and robotics research.

“Our role involves robotics research, that is to create models of the brain to be put into a simulation of a physical body. We must not only create a complete artificial brain but also implement the interaction between ‘nerve signals’ and movement, “explains Henrik Hautop Lund, head of the Danish contribution to the project.

DTU researchers implement cerebellar-like models using the neuromorphic SpiNNaker platform. Those models are linked via radio to the robot modules achieving the motor control and learning of the desired trajectory.

How is it done?

The artificial brain is implemented on simulations or in neuromorphic hardware. The brain-like model sends signals to a radio transmitter that transmits them to the robot. When the radio signal is received by the robot, the robot reads them and then traces out the movement defined by the code. Source: Ismael Baira Ojeda.

Click here to watch our short demo! – Video edited by

This interaction between brain models and robot actuators might make possible the development of more flexible prosthesis in the future that may have a greater human-like movement, explains Henrik Hautop Lund.

“We may eventually create robots that are more compliant and that can adapt better to new or uncertain environments while achieving smooth movements. ” comments Ismael Baira Ojeda.

At the same time, Henrik Lund Hautop thinks that in the future we will be able to enjoy household robots that can better adapt to different households and needs.

“It is not good that a robot has stiff and precise movements that could possibly damage a person if it is to be part of a household or collaborate with humans.” says Ismael Baira Ojeda.

Click here if you feel like reading the original Videnskab’s article in danish.