SGER: Micro Instrumentation of Insects for the Study and Possible Control of Gait Regulation

SGER：用于研究和可能控制步态调节的昆虫微型仪器

• 批准号: 9612357
• 负责人: Daniel Koditschek
• 金额: $ 5万
• 依托单位: Regents of the University of Michigan - Ann Arbor
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1996
• 资助国家: 美国
• 起止时间: 1996-08-15 至 1998-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9612357&HistoricalAwards=false
• 关键词: SGER; Micro; Instrumentation; Insects; Study

IRI-9612357 This award, in the SGER mode, funds a 24 month exploration of the potential uses of an electronic "bridle" mounted on an insect to control its locomotion. The investigation combines research in robotic control and sensing, neurobiology, and microelectromechanical systems engineering, to instrument large insects in such a fashion that signals analogous to those of a laboratory robot may be sensed and commanded at will. The research in this exploration period involves a study of the control strategies used in regulating locomotion, including neural correlates to the locomotion control. Using a combination of empirically and theoretically derived models, the investigators will attempt to "reverse engineer" the working behavior of the insect, a Madagascar cockroach, to the point of proposing automatic control strategies that can be implemented on the animal via external stimulus, so that the animal's path and gait can be guided and controlled by human or machine command.

在SGER模式下，该合同将资助一项为期24个月的探索，研究安装在昆虫身上的电子“缰绳”的潜在用途，以控制其运动。这项研究结合了机器人控制和传感、神经生物学和微机电系统工程等方面的研究，以一种类似于实验室机器人的信号可以被随意感知和控制的方式对大型昆虫进行仪器检测。这一探索阶段的研究主要涉及运动调节的控制策略，包括与运动控制相关的神经机制。利用经验和理论推导的模型相结合，研究人员将试图“逆向工程”这种昆虫——马达加斯加蟑螂的工作行为，以提出可以通过外部刺激在动物身上实施的自动控制策略，从而使动物的路径和步态可以被人类或机器命令引导和控制。