A Synthetic Nervous System Controls a Simulated Cockroach
A Synthetic Nervous System Controls a Simulated Cockroach
复制标题
合成神经系统控制模拟蟑螂
DOI：
10.3390/app8010006
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
R. Quinn
中科院分区：
文献类型：
--
作者：
Scott Rubeo;N. Szczecinski;R. Quinn
这项工作的目的是更好地了解动物如何控制运动。然后，这些知识可以应用于神经力学设计，以产生更有能力和适应性更强的机器人运动。为了测试有关动物运动控制的假设，我们通过动态模拟对动物及其神经系统进行建模，我们将其称为合成神经系统（SNS）。然而，一个主要挑战是选择产生预期动态的参数值。本文提出了一种无需全局优化即可解决该问题的设计流程。我们通过为 SimRoach2（蟑螂的动态模型）选择参数值来测试该方法。每个腿部关节均由一对对抗性希尔肌驱动。分布式 SNS 是根据已知存在于昆虫中的路径以及产生类似昆虫运动的假设路径而设计的。每个关节的控制器都设计为用作比例积分 (PI) 反馈回路，并通过数值优化进行调整。一旦调整完毕，SimRoach2 就会在模拟环境中行走，并具有一些类似蟑螂的功能。具有如此可靠的低水平性能的模型对于研究未来更复杂的运动模式是必要的。
The purpose of this work is to better understand how animals control locomotion. This knowledge can then be applied to neuromechanical design to produce more capable and adaptable robot locomotion. To test hypotheses about animal motor control, we model animals and their nervous systems with dynamical simulations, which we call synthetic nervous systems (SNS). However, one major challenge is picking parameter values that produce the intended dynamics. This paper presents a design process that solves this problem without the need for global optimization. We test this method by selecting parameter values for SimRoach2, a dynamical model of a cockroach. Each leg joint is actuated by an antagonistic pair of Hill muscles. A distributed SNS was designed based on pathways known to exist in insects, as well as hypothetical pathways that produced insect-like motion. Each joint’s controller was designed to function as a proportional-integral (PI) feedback loop and tuned with numerical optimization. Once tuned, SimRoach2 walks through a simulated environment, with several cockroach-like features. A model with such reliable low-level performance is necessary to investigate more sophisticated locomotion patterns in the future.
单腿关节的神经力学模型强调昆虫肌肉系统快肌纤维和慢肌纤维的基本生理作用
影响因子：
3.7
作者：
Schmidt;Büschges;Daun-Gruhn
通讯作者：
Daun-Gruhn
影响因子：
2.5
作者：
Mantziaris, Charalampos;Bockemuehl, Till;Bueschges, Ansgar
通讯作者：
Bueschges, Ansgar
影响因子：
2.5
作者：
Golowasch, J;Goldman, MS;Marder, E
通讯作者：
Marder, E