Templates and anchors for antenna-based wall following in cockroaches and robots
Templates and anchors for antenna-based wall following in cockroaches and robots
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DOI：
10.1109/tro.2007.913981
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发表时间：
2008-02-01
影响因子：
7.8
通讯作者：
Cowan, Noah J.
中科院分区：
文献类型：
--
作者：
Lee, Jusuk;Sponberg, Simon N.;Cowan, Noah J.
机器人和神经力学之间的相互作用促进了这两个领域的发现：自然界为机器人学家提供了设计思想，而机器人研究则阐明了赋予生物系统性能优势的关键特征。在这里，我们探索一个系统，特别适合利用生物学和机器人之间的协同作用：高速基于天线的墙壁以下的美洲大蠊（美洲大蠊）。我们的方法将数学和硬件建模与行为和神经生理学实验相结合。具体来说，我们证实了一个预测，从以前报道的墙以下模板-最简单的模型，捕捉行为-蟑螂天线为基础的控制器需要的速度接近墙壁除了距离，例如，以比例微分（PD）控制器的形式。神经生理学实验表明，在感觉处理的最早阶段，即在触角神经中出现的重要功能的墙壁以下的控制器。此外，我们将模板嵌入一个机器人平台，配备了一个生物启发的天线。使用这个系统，我们成功地测试特定的PD增益（规模）适合蟑螂的行为数据在“现实世界”的设置，贷款进一步信任令人惊讶的简单的概念，蟑螂可能会实现PD控制器的墙壁以下。最后，我们将模板嵌入到一个模拟的横向腿弹簧（LLS）模型中，使用压力中心作为控制输入。重要的是，同样的PD增益适合蟑螂的行为也稳定壁以下的LLS模型。
The interplay between robotics and neuromechanics facilitates discoveries in both fields: nature provides roboticists with design ideas, while robotics research elucidates critical features that confer performance advantages to biological systems. Here, we explore a system particularly well suited to exploit the synergies between biology and robotics: high-speed antenna-based wall following of the American cockroach (Periplaneta americana). Our approach integrates mathematical and hardware modeling with behavioral and neurophysiological experiments. Specifically, we corroborate a prediction from a previously reported wall-following template-the simplest model that captures a behavior-that a cockroach antenna-based controller requires the rate of approach to a wall in addition to distance, e.g., in the form of a proportional-derivative (PD) controller. Neurophysiological experiments reveal that important features of the wall-following controller emerge at the earliest stages of sensory processing, namely in the antennal nerve. Furthermore, we embed the template in a robotic platform outfitted with a bio-inspired antenna. Using this system, we successfully test specific PD gains (up to a scale) fitted to the cockroach behavioral data in a "real-world" setting, lending further credence to the surprisingly simple notion that a cockroach might implement a PD controller for wall following. Finally, we embed the template in a simulated lateral-leg-spring (LLS) model using the center of pressure as the control input. Importantly, the same PD gains fitted to cockroach behavior also stabilize wall following for the LLS model.