Locally active memristor neuromorphic circuit for Morris-Lecar driven robotic arm control

Investigating the dynamic characteristics and control of electromechanical coupling systems holds significant theoretical and practical value for the design of industrial robots. In this study, an electromechanical model driven by a Morris-Lecar (M-L) neuronal circuit was developed, where memristors emulate the dynamic properties of calcium/potassium ion channels. Adjustable external stimuli were applied to investigate their regulatory effects on robotic arm motion. The stability of the coupled system was analyzed, and the Hamiltonian energy distribution was calculated. Results demonstrate that four firing patterns induced by varying stimulus parameters directly regulate oscillatory modes of the robotic arm through differences in electrophysiological signal characteristics. Under specific coupling conditions, the system achieves complete or quasi-complete synchronization, with transient evolution potentially exhibiting chimera states. This model elucidates the intrinsic relationship between neuronal firing patterns and mechanical motion, providing theoretical support for intelligent control of biomimetic robotic arms.