FLC-Hybrot

This repository contains all the code necessary to run the FunctionalLivingCircuit(FLC)-Hybrot. The oscillation ranges of the motors of this hexapod robot are controlled online in real-time by the neural activity of a functional living circuit and includes a external light input from the context modifying the activity by a closed-loop connection.

This repository is associated to the following pulication:

Hybrot validation of a neural sequential dynamical principle for autonomous coordination. Rodrigo Amaducci, Irene Elices, Pablo Sanchez-Martin, Alicia Garrido-Peña, Manuel Reyes-Sanchez, Carlos Garcia-Saura, Rafael Levi, Francisco B. Rodriguez, Pablo Varona

Code structure

Arduino controller

• Contains code necessary to operate the oscillators, connect to the bluetooth and handle the photoreceptor.
• Folder photoreceptor

Real-time controller

• Handles:
  1. Real-time recording of the neural activity
  2. Events detection
  3. Bi-directional bluetooth connection to the robot
• Folders: src lib
• Runs with: Makefile Warning: This software only works in a Real-time operative system, it was designed and tested in Debian 9 with kernel 4.9.0-4 and Preempt-RT
• Visualization utils: plot_controller.py plot_record_video.py

Data Analysis

• Scripts for analysis in Python for invariants translation and for the speed stability in the robot's movement. This scripts where used for the Figures in the published work associated to this repository. Follow the instructions in data-analysis/data/README.md to reproduce them.
• Folder: data-analysis