Memristive Circuit Implementation of Caenorhabditis Elegans Mechanism for Neuromorphic Computing

To overcome the energy efficiency bottleneck of the von Neumann architecture and scaling limit of silicon transistors, an emerging but promising solution is neuromorphic computing, a new computing paradigm inspired by how biological neural networks handle the massive amount of information in a parallel and efficient way. Recently, there is a surge of interest in the nematode worm Caenorhabditis elegans (C. elegans), an ideal model organism to probe the mechanisms of biological neural networks. In this article, we propose a neuron model for C. elegans with leaky integrate-and-fire (LIF) dynamics and adjustable integration time. We utilize these neurons to build the C. elegans neural network according to their neural physiology, which comprises: 1) sensory modules; 2) interneuron modules; and 3) motoneuron modules. Leveraging these block designs, we develop a serpentine robot system, which mimics the locomotion behavior of C. elegans upon external stimulus. Moreover, experimental results of C. elegans neurons presented in this article reveals the robustness (1% error w.r.t. 10% random noise) and flexibility of our design in term of parameter setting. The work paves the way for future intelligent systems by mimicking the C. elegans neural system.