A test bed for insect-inspired robotic control

被引：27
作者：
Reiser, MB
Dickinson, MH
机构：
[1] Univ Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94720 USA
[2] Univ Calif Berkeley, Dept Integrat Biol, Berkeley, CA 94720 USA
来源：
PHILOSOPHICAL TRANSACTIONS OF THE ROYAL SOCIETY A-MATHEMATICAL PHYSICAL AND ENGINEERING SCIENCES | 2003年 / 361卷 / 1811期
关键词：
visual flight control; insect-based robots; optic flow; obstacle avoidance; behaviour-based robotics;
D O I：
10.1098/rsta.2003.1259
中图分类号：
O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];
学科分类号：
07 ; 0710 ; 09 ;
摘要：
Flying insects are remarkable examples of sophisticated sensory-motor control systems. Insects have solved the fundamental challenge facing the field of mobile robots: robust sensory-motor mapping. Control models based on insects can contribute much to the design of robotic control systems. We present our work on a preliminary robotic control system inspired by current behavioural and physiological models of the fruit fly, Drosophila melanogaster. We designed a five-degrees-of-freedom robotic system that serves as a novel simulation/mobile robot hybrid. This design has allowed us to implement a fly-inspired control system that uses visual and mechanosensory feedback. Our results suggest that a simple control scheme can yield surprisingly robust fly-like robotic behaviour.
引用
收藏
页码：2267 / 2285
页数：19
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