Brain-controlled robot grabs attention

Whole-Body Motion Planning for a Six-Legged Robot Walking on Rugged Terrain

Whole-body motion planning is a key ability for legged robots, which allows for the generation of terrain adaptive behaviors and thereby improved mobility in complex environment. To this end, this paper addresses the issue of terrain geometry based whole-body motion planning for a six-legged robot over a rugged terrain. The whole-body planning is decomposed into two sub-tasks: leg support and swing. For leg support planning, the target pose of the robot torso in a walking step is first found by maximizing the stability margin at the moment of support-swing transition and matching the orientation of the support polygon formed by target footholds. Then, the torso and thereby the leg support trajectories are generated using cubic spline interpolation and transferred into joint space through inverse kinematics. In terms of leg swing planning, the trajectories in a walking step are generated by solving an optimal problem that satisfies three constraints and a bioinspired objective function. The proposed whole-body motion planning strategies are implemented with a simulation and a real-world six-legged robot, and the results show that stable and collision-free motions can be produced for the robot over rugged terrains.

Reduction of the foreign body response and neuroprotection by apyrase and minocycline in chronic cannula implantation in the rat brain

Implantation of electrodes or cannulae into the brain is accompanied by a tissue response referred to as foreign body response. Adenosine triphosphate (ATP) is one of the signalling molecules released by injured cells which mediate the chemoattraction of microglial cells. The constitutive release of pro-inflammatory and cytotoxic substances by microglial cells in chronic implants exacerbates neuronal cell death and the immune response. This study aimed to interfere with the initial events of the foreign body response in order to mitigate neurotoxicity and inflammation. For this purpose, the ATP-hydrolysing enzyme apyrase and the antibiotic minocycline with a broad range of anti-inflammatory, anti-apoptotic and glutamate-antagonist properties were locally infused during cannula implantation in the caudal forelimb area of the motor cortex in Lister Hooded rats. The rats' motor performance was assessed in a skilled reaching task and the distribution of neurons and glial cells in the vicinity of the implant was examined 2 and 6 weeks post-implantation. Apyrase as well as minocycline increased the number of surviving neurons and reduced microglial activation. Moreover, minocycline improved the motor performance and, additionally, caused a temporary reduction in astrogliosis, suggesting it as a possible therapeutic candidate to improve the biocompatibility of chronic brain implants.