Whiskerbot: A robotic active touch system modeled on the rat whisker sensory system
Whiskerbot: A robotic active touch system modeled on the rat whisker sensory system
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DOI：
10.1177/1059712307082089
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发表时间：
2007-01-01
影响因子：
1.6
通讯作者：
Prescott, Tony J.
中科院分区：
文献类型：
--
作者：
Pearson, Martin J.;Pipe, Anthony G.;Prescott, Tony J.
Whiskerbot项目是机器人工程师、计算神经科学家和行为学家之间的合作项目，旨在建立一种受生物启发的啮齿动物胡须感知系统的机器人实现。已经对大胡须(大触须)的形态和力学进行了建模，以及组成啮齿动物负责大触须感觉处理的中枢神经系统的神经结构。这个项目有两个主要动机。首先，通过实施一个使用生物学上可信的神经网络控制的人造胡须感觉系统，我们希望更彻底地测试现有的模型，并为振动感觉处理开发新的假设。第二，触觉胡须的感觉模式可能适用于一般移动机器人的感觉部署。在这篇文章中，详细介绍了已经建立的机器人平台，以及已经进行的一些实验，这些实验是为了测试神经控制算法和体系结构，这些算法和体系结构是从神经行为学观察中获得的，以调节适应行为。
The Whiskerbot project is a collaborative project between robotics engineers, computational neuroscientists and ethologists, aiming to build a biologically inspired robotic implementation of the rodent whisker sensory system. The morphology and mechanics of the large whiskers (macro-vibrissae) have been modeled, as have the neural structures that constitute the rodent central nervous system responsible for macro-vibrissae sensory processing. There are two principal motivations for this project. First, by implementing an artificial whisker sensory system controlled using biologically plausible neural networks we hope to test existing models more thoroughly and develop new hypotheses for vibrissal sensory processing. Second, the sensory mode of tactile whiskers could be useful for general mobile robotic sensory deployment. In this article the robotic platform that has been built is detailed as well as some of the experiments that have been conducted to test the neural control algorithms and architectures inspired from neuroethological observations to mediate adaptive behaviors.