Templates and anchors for antenna-based wall following in cockroaches and robots

被引:56
作者
Lee, Jusuk [1 ]
Sponberg, Simon N. [2 ]
Loh, Owen Y. [4 ]
Lamperski, Andrew G. [3 ]
Full, Robert J. [2 ]
Cowan, Noah J. [1 ]
机构
[1] Johns Hopkins Univ, Dept Mech Engn, Baltimore, MD 21218 USA
[2] Univ Calif Berkeley, Dept Integrat Biol, Berkeley, CA 94720 USA
[3] CALTECH, Control & Dynam Syst Program, Pasadena, CA 91125 USA
[4] Northwestern Univ, Dept Mech Engn, Evanston, IL 60208 USA
基金
美国国家科学基金会;
关键词
bio-inspiration; biological system modeling; biomimicry; insect antenna; legged locomotion; wall following; SCAPAL HAIR PLATE; HORIZONTAL PLANE; INSECT LOCOMOTION; LEGGED LOCOMOTION; PERIPLANETA-AMERICANA; MECHANICAL MODELS; EVASIVE BEHAVIOR; STABILITY; DYNAMICS; SYSTEM;
D O I
10.1109/TRO.2007.913981
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
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.
引用
收藏
页码:130 / 143
页数:14
相关论文
共 58 条
[1]   Scaling hard vertical surfaces with compliant microspine arrays [J].
Asbeck, Alan T. ;
Kim, Sangbae ;
Cutkosky, M. R. ;
Provancher, William R. ;
Lanzetta, Michele .
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2006, 25 (12) :1165-1179
[2]  
Ayers J., 1995, Proc. Autonomous Vehicles in Mine Countermeasures Symposium, P15
[3]   Large deflection analysis of a biomimetic lobster robot antenna due to contact and flow [J].
Barnes, TG ;
Truong, TQ ;
Adams, GG ;
McGruer, NE .
JOURNAL OF APPLIED MECHANICS-TRANSACTIONS OF THE ASME, 2001, 68 (06) :948-951
[4]   Spider mechanoreceptors [J].
Barth, FG .
CURRENT OPINION IN NEUROBIOLOGY, 2004, 14 (04) :415-422
[5]  
Camhi JM, 1999, J EXP BIOL, V202, P631
[6]   Fast and robust: Hexapedal robots via shape deposition manufacturing [J].
Cham, JG ;
Bailey, SA ;
Clark, JE ;
Full, RJ ;
Cutkosky, MR .
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2002, 21 (10-11) :869-882
[7]  
CHAPMAN KM, 1967, J EXP BIOL, V46, P63
[8]   A model of antennal wall-following and escape in the cockroach [J].
Chapman, T. P. ;
Webb, B. .
JOURNAL OF COMPARATIVE PHYSIOLOGY A-NEUROETHOLOGY SENSORY NEURAL AND BEHAVIORAL PHYSIOLOGY, 2006, 192 (09) :949-969
[9]  
Comer C.M., 1993, BIOLOGICAL NEURAL NE, P89
[10]   The antennal system and cockroach evasive behavior. II. Stimulus identification and localization are separable antennal functions [J].
Comer, CM ;
Parks, L ;
Halvorsen, MB ;
Breese-Terteling, A .
JOURNAL OF COMPARATIVE PHYSIOLOGY A-NEUROETHOLOGY SENSORY NEURAL AND BEHAVIORAL PHYSIOLOGY, 2003, 189 (02) :97-103