{"id":"https://openalex.org/W4416249860","doi":"https://doi.org/10.1109/ijcnn64981.2025.11228735","title":"Space-Time Smooth Control of Closed-Loop Neuromorphic Robotic Arms Using Spiking Neural Networks","display_name":"Space-Time Smooth Control of Closed-Loop Neuromorphic Robotic Arms Using Spiking Neural Networks","publication_year":2025,"publication_date":"2025-06-30","ids":{"openalex":"https://openalex.org/W4416249860","doi":"https://doi.org/10.1109/ijcnn64981.2025.11228735"},"language":null,"primary_location":{"id":"doi:10.1109/ijcnn64981.2025.11228735","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn64981.2025.11228735","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Joint Conference on Neural Networks (IJCNN)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043105554","display_name":"Daniel Casanueva\u2010Morato","orcid":"https://orcid.org/0000-0002-7676-1629"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Daniel Casanueva-Morato","raw_affiliation_strings":["Universidad de Sevilla,Robotics and Technology of Computers Lab., ETSII-EPS,Sevilla,Spain"],"affiliations":[{"raw_affiliation_string":"Universidad de Sevilla,Robotics and Technology of Computers Lab., ETSII-EPS,Sevilla,Spain","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101962263","display_name":"Chenxi Wu","orcid":"https://orcid.org/0000-0002-7281-3655"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chenxi Wu","raw_affiliation_strings":["SynSense AG Corporation,Zurich,Switzerland"],"affiliations":[{"raw_affiliation_string":"SynSense AG Corporation,Zurich,Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060241952","display_name":"Giacomo Indiveri","orcid":"https://orcid.org/0000-0002-7109-1689"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I12708293","display_name":"SIB Swiss Institute of Bioinformatics","ror":"https://ror.org/002n09z45","country_code":"CH","type":"funder","lineage":["https://openalex.org/I12708293"]},{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Giacomo Indiveri","raw_affiliation_strings":["University of Zurich and ETH Zurich,Institute of Neuroinformatics,Switzerland"],"affiliations":[{"raw_affiliation_string":"University of Zurich and ETH Zurich,Institute of Neuroinformatics,Switzerland","institution_ids":["https://openalex.org/I12708293","https://openalex.org/I202697423","https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001923763","display_name":"Juan P. Dominguez\u2010Morales","orcid":"https://orcid.org/0000-0002-5474-107X"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Juan P. Dominguez-Morales","raw_affiliation_strings":["Universidad de Sevilla,Robotics and Technology of Computers Lab., ETSII-EPS,Sevilla,Spain"],"affiliations":[{"raw_affiliation_string":"Universidad de Sevilla,Robotics and Technology of Computers Lab., ETSII-EPS,Sevilla,Spain","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050129780","display_name":"Alejandro Linares-Barranco","orcid":"https://orcid.org/0000-0002-6056-740X"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alejandro Linares-Barranco","raw_affiliation_strings":["Universidad de Sevilla,Robotics and Technology of Computers Lab., ETSII-EPS,Sevilla,Spain"],"affiliations":[{"raw_affiliation_string":"Universidad de Sevilla,Robotics and Technology of Computers Lab., ETSII-EPS,Sevilla,Spain","institution_ids":["https://openalex.org/I79238269"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5043105554"],"corresponding_institution_ids":["https://openalex.org/I79238269"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.36486554,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"9"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9564999938011169,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9564999938011169,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12611","display_name":"Neural Networks and Reservoir Computing","score":0.01080000028014183,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12808","display_name":"Ferroelectric and Negative Capacitance Devices","score":0.004100000020116568,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/neuromorphic-engineering","display_name":"Neuromorphic engineering","score":0.929099977016449},{"id":"https://openalex.org/keywords/spiking-neural-network","display_name":"Spiking neural network","score":0.6225000023841858},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5841000080108643},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.527999997138977},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.49619999527931213},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4740000069141388},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4198000133037567},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3837999999523163},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3702000081539154}],"concepts":[{"id":"https://openalex.org/C151927369","wikidata":"https://www.wikidata.org/wiki/Q1981312","display_name":"Neuromorphic engineering","level":3,"score":0.929099977016449},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6855999827384949},{"id":"https://openalex.org/C11731999","wikidata":"https://www.wikidata.org/wiki/Q9067355","display_name":"Spiking neural network","level":3,"score":0.6225000023841858},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5841000080108643},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.527999997138977},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.49619999527931213},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4740000069141388},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4708999991416931},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4198000133037567},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3837999999523163},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3702000081539154},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.365200012922287},{"id":"https://openalex.org/C2778067643","wikidata":"https://www.wikidata.org/wiki/Q166507","display_name":"Interval (graph theory)","level":2,"score":0.3589000105857849},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3580000102519989},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35429999232292175},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.3513000011444092},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.3278999924659729},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3257000148296356},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3156000077724457},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31290000677108765},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.30880001187324524},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.3068000078201294},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2870999872684479},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.28040000796318054},{"id":"https://openalex.org/C149810388","wikidata":"https://www.wikidata.org/wiki/Q5374873","display_name":"Emulation","level":2,"score":0.25459998846054077}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ijcnn64981.2025.11228735","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn64981.2025.11228735","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Joint Conference on Neural Networks (IJCNN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1596787301","https://openalex.org/W1695065985","https://openalex.org/W1975398991","https://openalex.org/W1995341919","https://openalex.org/W2018904782","https://openalex.org/W2026157703","https://openalex.org/W2041959877","https://openalex.org/W2045726379","https://openalex.org/W2102397476","https://openalex.org/W2121917196","https://openalex.org/W2128515095","https://openalex.org/W2128949090","https://openalex.org/W2130459697","https://openalex.org/W2141624237","https://openalex.org/W2163630896","https://openalex.org/W2164661287","https://openalex.org/W2513148968","https://openalex.org/W2758244442","https://openalex.org/W2783525259","https://openalex.org/W2896919074","https://openalex.org/W2972234767","https://openalex.org/W3087184661","https://openalex.org/W3107590884","https://openalex.org/W3133213258","https://openalex.org/W3201496044","https://openalex.org/W4214639850","https://openalex.org/W4283733850","https://openalex.org/W4283753774","https://openalex.org/W4283830699","https://openalex.org/W4293253470","https://openalex.org/W4297370134","https://openalex.org/W4312316262","https://openalex.org/W4313033623","https://openalex.org/W4365146770","https://openalex.org/W4379058347","https://openalex.org/W4383874774","https://openalex.org/W4384298229","https://openalex.org/W4390777363","https://openalex.org/W4400234423","https://openalex.org/W4411725100","https://openalex.org/W4415446043"],"related_works":[],"abstract_inverted_index":{"In":[0,72],"robotics,":[1,65,73],"one":[2,180],"of":[3,118,141,173,182,190],"the":[4,23,32,44,114,119,130,148,162,167,174,183,187,191,194],"most":[5],"common":[6],"tasks":[7],"involves":[8],"executing":[9],"trajectories":[10,156],"to":[11,42,146],"reach":[12],"a":[13,36,93,108],"specific":[14],"target":[15,33],"in":[16,48,61,81,88,161],"space;":[17],"but,":[18],"such":[19,63],"movements,":[20],"and":[21,70,116,153],"consequently":[22],"trajectories,":[24],"frequently":[25],"exhibit":[26],"oscillatory":[27],"or":[28],"non-uniform":[29],"behavior":[30],"around":[31],"point":[34],"within":[35],"continuous":[37],"trajectory.":[38],"Neuromorphic":[39,55],"engineering":[40,56],"seeks":[41],"integrate":[43],"computational":[45],"mechanisms":[46],"observed":[47],"animal":[49],"brains":[50],"into":[51],"contemporary":[52],"technological":[53],"systems.":[54],"has":[57,126,143,176],"been":[58,127,144,177],"successfully":[59],"applied":[60],"fields":[62],"as":[64],"autonomous":[66],"systems,":[67],"edge":[68],"computing,":[69],"healthcare.":[71],"it":[74],"efficiently":[75],"addresses":[76],"challenges":[77],"like":[78],"dynamic":[79],"control":[80,96],"path":[82],"planning.":[83],"By":[84],"adopting":[85],"this":[86,89],"strategy,":[87],"work,":[90],"we":[91],"present":[92],"space-time":[94],"smooth":[95],"mechanism":[97],"for":[98,157,179],"closed-loop":[99],"spiking":[100,109],"robot":[101],"arms.":[102],"The":[103,122],"system":[104,149],"is":[105,200],"based":[106],"on":[107,129,150],"neural":[110,124],"network":[111,125],"inspired":[112],"by":[113,166],"structure":[115],"function":[117],"nervous":[120],"system.":[121],"proposed":[123],"implemented":[128],"mixed":[131],"analog-digital":[132],"signal":[133],"special":[134],"purpose":[135],"hardware":[136,192],"platform":[137],"DYNAP-SE2.":[138],"A":[139,170],"set":[140],"experiments":[142],"conducted":[145],"test":[147],"both":[151],"forward":[152],"reverse":[154],"reference":[155],"different":[158],"waiting":[159],"times":[160],"interpolation":[163],"carried":[164],"out":[165],"FPGA-based":[168],"control.":[169],"tunable":[171],"smoothing":[172],"trajectory":[175],"achieved":[178],"joint":[181],"robotic":[184],"arm.":[185],"Given":[186],"temporal":[188],"limitations":[189],"setup,":[193],"optimal":[195],"interval":[196],"between":[197],"interpolated":[198],"points":[199],"8":[201],"ms.":[202]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-14T00:00:00"}