Fujipress Home | Search | About FINDER

Paper:
Language: English:

Insect-Controlled Robot – Evaluation of Adaptation Ability –


Shuhei Emoto, Noriyasu Ando, Hirokazu Takahashi,
and Ryohei Kanzaki


The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8904, Japan


Received: January 11, 2007

Accepted: April 20, 2007


Keywords: environmental adaptation, robot, insect, microbrain, olfaction

Journal ref: Journal of Robotics and Mechatronics, Vol.19, No.4 pp. 436-443, 2007

Abstract



Insects can adapt to various environments and perform adaptive behaviors with their simple nervous system. Understanding of the mechanisms underlying these adaptive behaviors has been expected to lead to novel control systems in robotics. In this study, we proposed and developed a robot controlled by an insect in order to evaluate the adaptability of insects. This robot reproduced the behavior of a male silkmoth (Bombyx mori) tethered on it with high precision, and was successful in reproducing the pheromone-oriented behavior that is an adaptive behavior of the male silkmoth. When we changed the forward motor gain of the robot, its speed changed based on the manipulation. However, the manipulated robot performed the same ability for the sex-pheromone orientation as existed before the manipulation. This implied that the programmed behavior pattern of the pheromone-oriented behavior was robust and important for successful orientation, which did not depend on the speed of movement. This robot exhibits a new method to manipulate interaction between the body and the environment and is expected to prove useful as a new experimental platform for analyzing adaptability.
preview Preview (PDF)  full text Full Text (PDF 353KB)

Reference

[1] Y. Kuwana, S. Nagasawa, I. Shimoyama, and R. Kanzaki, “A pheromone-guided mobile robot that behaves like a silkworm moth with living antennae as pheromone sensors,” Int. J. Robot Res., Vol.17, pp. 924-933, 1998.

[2] B. Webb, R. R. Harrison, and M. A. Willis, “Sensorimotor control of navigation in arthropod and artificial systems,” Arthropod struct. dev., Vol.33, pp. 301-329, 2004.

[3] S. Yue and F. C. Rind, “A Collision detection system for a mobile robot inspired by locust visual system,” IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 3832-3837, 2005.

[4] R. Kanzaki, S. Nagasawa, and I. Shimoyama, “Neural basis of odorsource searching behavior in insect microbrain system evaluated with a mobile robot,” Chem Senses, Vol.30 (suppl 1), pp. i285-i286, 2005.

[5] J. R. Gray, V. Pawlowski, and M. A. Willis, “A method for recording behavior and multineuronal CNS activity from tethered insects flying in virtual space,” J. Neurosci. Methods, Vol.120, pp. 211-233, 2002.

[6] R. Kanzaki, N. Sugi, and T. Shibuya, “Self-generated Zigzag Turning of Bombyx mori Males during Pheromone-mediated upwind Walking,” Zool Sci., Vol.9, pp. 515-527, 1992.

[7] L. Gatellier and R. Kanzaki, “Short and long term habituation of the male silkmoth to female sex pheromone,” In Abstracts of the 14th International Symposium on Olfaction and Taste, Kyoto, Japan, p. 247, 2004.

[8] E. Staudacher and K. Schildberger, “Gating of sensory response of descending brain neuron during walking in crickets,” J. Exp. Biol., Vol.201, pp. 559-572, 1998.

[9] S. Yamane and M. Takahata, “Experimental modification of stepping course in spontaneously initiated locomotor behavior in the crayfish Procambarus clarkia Girard,” J. Comp. Physiol. A, Vol.188, pp. 13-23, 2002.

[10] M. A. Willis and E. A. Arbas, “Odor-modulated upwind flight of the sphinx moth, Manduca sexta L,” J. Comp. Physiol. A, Vol.169, pp. 427-440, 1991.

[11] N. Ando, I. Shimoyama, and R. Kanzaki, “A dual-channel FM transmitter for acquisition of flight muscle activities from the freely flying hawkmoth, Agrius convolvuli,” J. Neurosci. Methods, Vol.115, pp.181-187, 2002.

[Notice]
* "Preview" is the first 2 pages of the article. You don't need the registration.
* To read the PDF file you will then need to download and install the Adobe Reader.
Adobe Reader is free and available for download here:

adobe reader

Terms and Conditions | Privacy Policy | Recruit | Advertising Information | Contact Us