{"id":"https://openalex.org/W7168625828","doi":"https://doi.org/10.1145/3822454.3822466","title":"A Spiking Neural Architecture for Coordinating Arm and Locomotor Control","display_name":"A Spiking Neural Architecture for Coordinating Arm and Locomotor Control","publication_year":2026,"publication_date":"2026-07-16","ids":{"openalex":"https://openalex.org/W7168625828","doi":"https://doi.org/10.1145/3822454.3822466"},"language":null,"primary_location":{"id":"doi:10.1145/3822454.3822466","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3822454.3822466","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the International Conference on Neuromorphic Systems","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1145/3822454.3822466","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008282515","display_name":"Lea Steffen","orcid":"https://orcid.org/0000-0002-7485-6915"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Lea Steffen","raw_affiliation_strings":["University of Waterloo, Waterloo, Canada"],"raw_orcid":"https://orcid.org/0000-0002-7485-6915","affiliations":[{"raw_affiliation_string":"University of Waterloo, Waterloo, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077147566","display_name":"Kathryn Simon","orcid":"https://orcid.org/0000-0002-3658-9377"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Kathryn Simone","raw_affiliation_strings":["University of Waterloo, Waterloo, Canada"],"raw_orcid":"https://orcid.org/0000-0002-3658-9377","affiliations":[{"raw_affiliation_string":"University of Waterloo, Waterloo, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5118867464","display_name":"Graeme Damberger","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Graeme Damberger","raw_affiliation_strings":["University of Waterloo, Waterloo, Canada"],"raw_orcid":"https://orcid.org/0009-0003-4280-2212","affiliations":[{"raw_affiliation_string":"University of Waterloo, Waterloo, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030203520","display_name":"Travis DeWolf","orcid":"https://orcid.org/0000-0002-8780-5631"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Travis DeWolf","raw_affiliation_strings":["Applied Brain Research, Waterloo, Canada"],"raw_orcid":"https://orcid.org/0000-0002-8780-5631","affiliations":[{"raw_affiliation_string":"Applied Brain Research, Waterloo, Canada","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136695690","display_name":"Hudson Ly","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Hudson Ly","raw_affiliation_strings":["University of Waterloo, Waterloo, Canada"],"raw_orcid":"https://orcid.org/0009-0001-6849-8082","affiliations":[{"raw_affiliation_string":"University of Waterloo, Waterloo, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055630059","display_name":"Chris Eliasmith","orcid":"https://orcid.org/0000-0003-2933-0209"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Chris Eliasmith","raw_affiliation_strings":["University of Waterloo, Waterloo, Canada"],"raw_orcid":"https://orcid.org/0000-0003-2933-0209","affiliations":[{"raw_affiliation_string":"University of Waterloo, Waterloo, Canada","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"249","last_page":"256"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":null,"topics":[],"keywords":[{"id":"https://openalex.org/keywords/neuromorphic-engineering","display_name":"Neuromorphic engineering","score":0.684499979019165},{"id":"https://openalex.org/keywords/spiking-neural-network","display_name":"Spiking neural network","score":0.6825000047683716},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.47999998927116394},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4553000032901764},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4142000079154968},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4129999876022339},{"id":"https://openalex.org/keywords/action-selection","display_name":"Action selection","score":0.3986000120639801},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.3968999981880188},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.38199999928474426}],"concepts":[{"id":"https://openalex.org/C151927369","wikidata":"https://www.wikidata.org/wiki/Q1981312","display_name":"Neuromorphic engineering","level":3,"score":0.684499979019165},{"id":"https://openalex.org/C11731999","wikidata":"https://www.wikidata.org/wiki/Q9067355","display_name":"Spiking neural network","level":3,"score":0.6825000047683716},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6173999905586243},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.47999998927116394},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45750001072883606},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4553000032901764},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4142000079154968},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4129999876022339},{"id":"https://openalex.org/C166109690","wikidata":"https://www.wikidata.org/wiki/Q4677422","display_name":"Action selection","level":3,"score":0.3986000120639801},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.3968999981880188},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.38199999928474426},{"id":"https://openalex.org/C137813230","wikidata":"https://www.wikidata.org/wiki/Q2996165","display_name":"Motor control","level":2,"score":0.37139999866485596},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37049999833106995},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3497999906539917},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.33149999380111694},{"id":"https://openalex.org/C3019108329","wikidata":"https://www.wikidata.org/wiki/Q1751327","display_name":"Movement control","level":2,"score":0.3296000063419342},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3255000114440918},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3084999918937683},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3050999939441681},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2896000146865845},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.27059999108314514},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.2703000009059906},{"id":"https://openalex.org/C152478114","wikidata":"https://www.wikidata.org/wiki/Q660910","display_name":"Neurophysiology","level":2,"score":0.2646999955177307},{"id":"https://openalex.org/C118974865","wikidata":"https://www.wikidata.org/wiki/Q7300773","display_name":"Real-time Control System","level":3,"score":0.2630999982357025}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3822454.3822466","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3822454.3822466","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the International Conference on Neuromorphic Systems","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3822454.3822466","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3822454.3822466","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the International Conference on Neuromorphic Systems","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2954402941","display_name":null,"funder_award_id":"52479-10006","funder_id":"https://openalex.org/F4320311217","funder_display_name":"CFIDS Association of America"}],"funders":[{"id":"https://openalex.org/F4320311217","display_name":"CFIDS Association of America","ror":"https://ror.org/04mhkhc08"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W827079712","https://openalex.org/W2016708835","https://openalex.org/W2065125569","https://openalex.org/W2552542682","https://openalex.org/W2558597819","https://openalex.org/W2896919074","https://openalex.org/W2897343359","https://openalex.org/W2918900136","https://openalex.org/W3093146707","https://openalex.org/W3094044405","https://openalex.org/W4233030948","https://openalex.org/W4293255368","https://openalex.org/W4309323101","https://openalex.org/W4315778706","https://openalex.org/W4408353317","https://openalex.org/W4414856303","https://openalex.org/W7125489972"],"related_works":[],"abstract_inverted_index":{"Spiking":[0],"Neural":[1,55],"Networks":[2],"(SNNs)":[3],"coupled":[4],"with":[5],"neuromorphic":[6,149],"hardware":[7],"offer":[8],"energy-efficient":[9],"solutions":[10],"for":[11,90],"humanoid":[12,138],"robot":[13],"control.":[14],"However,":[15],"existing":[16],"SNN":[17],"-based":[18],"motor":[19],"control":[20,27,32,45,71,113,134],"systems":[21],"address":[22],"bipedal":[23,47,130],"locomotion":[24,48,131],"and":[25,46,59,69,94,106,111,132],"arm":[26,44,70,112,133],"in":[28,49],"isolation,":[29],"leaving":[30],"integrated":[31,125],"of":[33,88],"both":[34],"unaddressed.":[35],"We":[36,82],"present":[37],"a":[38,50,75,136],"spiking":[39,78,126],"architecture":[40],"that":[41],"coordinates":[42],"force-based":[43],"simulated":[51],"humanoid,":[52],"using":[53],"the":[54,84,91,123],"Engineering":[56],"Framework":[57],"(NEF)":[58],"Semantic":[60],"Pointer":[61],"Architecture":[62],"(SPA).":[63],"High-level":[64],"action":[65],"selection":[66],"between":[67,109],"locomotor":[68],"is":[72,122],"mediated":[73],"by":[74],"biologically":[76],"grounded":[77],"basal":[79,115],"ganglia":[80,116],"model.":[81],"validate":[83],"system":[85],"through":[86],"co-simulation":[87],"Nengo,":[89],"neural":[92],"control,":[93],"Isaac":[95],"Sim,":[96],"demonstrating":[97],"successful":[98],"target":[99],"reaching,":[100],"continuous":[101],"digit":[102],"drawing,":[103],"path-following":[104],"locomotion,":[105],"finally,":[107],"switching":[108],"walking":[110],"via":[114],"disinhibition.":[117],"To":[118],"our":[119],"knowledge,":[120],"this":[121],"first":[124],"controller":[127],"to":[128],"combine":[129],"on":[135,147],"full-scale":[137],"platform.":[139],"The":[140],"full":[141],"spike-based":[142],"implementation":[143],"enables":[144],"future":[145],"deployment":[146],"low-power":[148],"hardware.":[150]},"counts_by_year":[],"updated_date":"2026-07-17T05:58:32.477365","created_date":"2026-07-17T00:00:00"}