Biomimetic and Biohybrid Systems

Name: Biomimetic and Biohybrid Systems | First International Conference, Living Machines 2012, Barcelona, Spain, July 9-12, 2012, Proceedings
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First International Conference, Living Machines 2012, Barcelona, Spain, July 9-12, 2012, Proceedings

Tony T. Prescott Nathan F. Lepora Anna Mura Paul F.M.J. Verschure(Herausgeber*in)

Springer (Verlag)

Erschienen am 22. Juni 2012

XVI, 405 Seiten

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Inhalt

Title
Preface
Organization
Table of Contents
Full Papers
A Conserved Biomimetic Control Architecture for Walking, Swimming and Flying Robots
Introduction
Electronic Nervous Systems
Central Pattern Generators
Standard Board Set
Releasing Mechanisms
Layered Exteroceptive Reflexes
Exteroceptive Reflexes for Flight Modulation
Exteroceptive Reflexes for Walking
Exteroceptive Reflexes for Swimming
Behavioral Sequencing
Supervised Reactive Autonomy
Conclusion
References
A Digital Neuromorphic Implementation of Cerebellar Associative Learning
Introduction
Methods
Results
Discussion and Conclusion
References
Simulating an Elastic Bipedal Robot Based on Musculoskeletal Modeling
Introduction
Methods
Scaling
Inverse Kinematics
Computed Muscle Control
Evaluation
Conclusion and Future Work
References
A Soft-Body Controller with Ubiquitous Sensor Feedback
Introduction
The Mechanics of Peristalsis
Biologically Inspired Control
Aims
Methods
Using a Wilson-Cowan Model to Create Adaptive Waves
Model of Worm Posture and Strain Receptors
Results
Discussion
Conclusions
References
Exploration of Objects by an Underwater Robot with Electric Sense
Introduction
The Electrolocation Test-Bed
Sensor
Tank and Cartesian Robot
Objects and Scenes
Model
Control Law
General Architecture
Case of the 7-Electrode Sensor
Exploration Control Strategy
Application to the 7-Electrode Sensor
Interpretation
Experimental Results
Conclusion
References
Neuro-inspired Navigation Strategies Shifting for Robots: Integration of a Multiple Landmark Taxon Strategy
Introduction
Computational Model
Taxon Strategy
Gating Network
Experimental Setup
Results
Evaluation of the Taxon
Full Model (Taxon+Planning+Exploration)
Discussion
References
Bioinspired Tunable Lens Driven by Electroactive Polymer Artificial Muscles
Introduction
Enabling Artificial Muscle Technology
Bioinspired Design and Implementation
Results
Future Developments
Conclusion
References
A Pilot Study on Saccadic Adaptation Experiments with Robots
Introduction
Saccadic Adaptation in Humans and Robots
Saccadic Adaptation in Humans
The Model and the Humanoid Robot Implementation
Experimental Evaluation
Experimental Setup
Simulated Experiments
Robot Experiments
Discussion and Conclusion
References
Jumping Robot with a Tunable Suspension Based on Artificial Muscles
Introduction
Related Work
Tunable Stiffness Modules
Electroactive Polymers
Variable Stiffness Performance
Workloops and Energy Dissipation
Response Time
Power Consumption
Hopping Robot
Physical Design
Control Law
Results
Extended Applications
Conclusions
References
Static versus Adaptive Gain Control Strategy for Visuo-motor Stabilization
Introduction
Methods
Fly Preparation and Electrophysiology
Visual Stimulation of the H1 Cell
Closed-Loop Controllers
Results
Bode Magnitude and Phase Plots
Motor Pass-Band Gain and Bandwidth
Performance Index
Discussion
References
Learning and Retrieval of Memory Elements in a Navigation Task
Introduction
Navinet I: Navigation through Predefined Places
Path Integrator and Area Concentrated Search
Motivation Units
Predefined Food Places
Output Selection
Navinet II: Navigating and Learning Places
Default Food Search
Motivation Units
Area Concentrated Search
Landmark Memory
Inputs/Outputs
Learning and Retrieving Food Places
Structure of Food Place Memories
Learning of Food Place Memory Information
Retrieval and Updating Food Place Memory Information
Recognition of a Food Source
Results
Discussion
References
Imitation of the Honeybee Dance Communication System by Means of a Biomimetic Robot
Introduction
Mechanical Description and Hive Setup
Wing Vibrations
Obstacle Recognition and Behavior Control
Experimental Results
Conclusions and Future Work
References
A Framework for Mobile Robot Navigation Using a Temporal Population Code
Introduction
Methods
Architecture Overview
Attention System
Visual System
Hippocampus Model
Experimental Environment
Image Representation Using TPC
Results
Discussion
References
Generalization of Integrator Models to Foraging: A Robot Study Using the DAC9 Model
Introduction
Materials and Methods
Cognitive Architecture
Integrator Models
Foraging Tasks
Results
Foraging Tasks
Self-generated Actions
Conclusions
References
The Emergence of Action Sequences from Spatial Attention: Insight from Rodent-Like Robots
Introduction
Models
Results
Discussion
References
How Past Experience, Imitation and Practice Can Be Combined to Swiftly Learn to Use Novel "Tools": Insights from Skill Learning Experiments with Baby Humanoids
Introduction: On Learning to Use Tools and Learning 'Green'
Context: Functional Coupling of the Body with Tools, Primitive Building Blocks of the iCub Skill Learning Architecture
Learning to Control a Toy Crane: Insights into iCub Skill Learning Architecture
Connectivity between "Body" and "Tool": Normal Case, Pathological Case and What If the Toy Crane Was an Animate Human Instead..?
Concluding Remarks
References
Towards Contextual Action Recognition and Target Localization with Active Allocation of Attention
Introduction
TheProblem
Action Recognition with Dynamic Allocation of Attention
Experimental Evaluation
Conclusions
References
Robot Localization Implemented with Enzymatic Numerical P Systems
Introduction
Formal Definition of the ENPS Model
NPS Model
ENPS Model
ENPS Controllers
Odometric Localization for an Autonomous Mobile Robot
Advantages of ENPS Model
Experiments and Results
Conclusions and Future Work
References
How Can Embodiment Simplify the Problem of View-Based Navigation?
Introduction
Understanding the Information in Natural Scenes
Using Views as a Visual Compass
Route Navigation with a Holistic Memory
Place Search with a Visual Compass
Place Search and Route Navigation with a Holistic Memory
Conclusions and Future Work
References
The Dynamical Modeling of Cognitive Robot-Human Centered Interaction
Introduction
Variables. Common Phase Space. Basic Dynamical Model
Representation of the Team Information Flow
Timing of the Cognitive Cycle and Synchronization of Human-Robot Interactions
Binding and Communication Inside the Team
Discussion
References
Internal Drive Regulation of Sensorimotor Reflexes in the Control of a Catering Assistant Autonomous Robot
Introduction
The Control Architecture
The Hardware
The Autonomous Control System
Results
Discussion
References
Incremental Learning in a 14 DOF Simulated iCub Robot: Modeling Infant Reach/Grasp Development
Introduction
Robotic Model and Experimental Scenario
The Robot
The Robot's Neural Controller and Sensory-Motor System
Learning Process
Incremental Training
Results and Discussion
Conclusions
References
A True-Slime-Mold-Inspired Fluid-Filled Robot Exhibiting Versatile Behavior
Introduction
Robot Design
Mechanical System
Control System
Experimental Results
Experiment with One Module
Experiment with Two Modules
Experiment with Three Modules
Discussion
Conclusions
References
CyberRat Probes: High-Resolution Biohybrid Devices for Probing the Brain
Introduction
Biohybrid Devices for Neural Interfacing
Existing Technologies
Tools for Neuronal Signal Analysis
Interfacing with the Brain Using the CyberRat Probes
Probe Description
Animal Preparation
Stimulation and Signal Recording
Neuronal Signal Detection
Comparison of Recordings between CyberRat Probe and Conventional Probe
Simultaneous Recordings from S1 and M1 Cortex
Analysis of the Acquired Signals
SigMate Design
SigMate Features
Conclusion
References
Crayfish Inspired Representation of Space via Haptic Memory in a Simulated Robotic Agent
Introduction
Robotic Simulation of Crayfish Behavior
Methods
The Model
Materials
Procedure
Results
Discussion
References
Parallel Implementation of Instinctual and Learning Neural Mechanisms in a Simulated Mobile Robot
Introduction
Methods
Agent Specification
Network Design
Simulation Environment
Simulation Trial Procedure
Experimental Design
Results
Discussion
References
Distributed Control of Complex Arm Movements
Introduction
The Bryte Way
Using Brytes
Results
Simulation of Obstacle Avoidance
Simulating Scratching an Itch
Discussion
References
Cerebellar Memory Transfer and Partial Savings during Motor Learning: A Robotic Study
Introduction
Materials and Methods
Cerebellar Neuronal Model
Model Equations
Simulated Conditioning Experiments
Robot Associative Learning Experiments
Results
Results of the Simulated Cerebellar Circuit
Robotic Experiments Results
Discussion
References
Extended Abstracts
A Biomimetic Approach to an Autonomous Unmanned Air Vehicle
Introduction
Materials and Methods
Results and Discussion
References
Towards a Framework for Tactile Perception in Social Robotics
References
A Locomotion Strategy for an Octopus-Bioinspired Robot
References
Design and Modeling of a New Biomimetic Robot Frog with the Ability of Jumping Altitude Regulation
Introduction
The Modeling and Simulation
Conclusion
References
Sensation of a "Noisy" Whisker Vibration in Rats
Introduction
Methods
Results
Integrating Molecular Computation and Material Production in an Artificial Subcellular Matrix
References
WARMOR: Whegs Adaptation and Reconfiguration of MOdular Robot with Tunable Compliance
Introduction
Design of WARMOR 1
Experiments
References
Inverse and Direct Model of a Continuum Manipulator Inspired by the Octopus Arm
References
A Biomimetic, Swimming Soft Robot Inspired by the Octopus Vulgaris
Introduction
Biomimetic Soft Vortex Thruster
Results
References
Toward a Fusion Model of Feature and Spatial Tactile Memory in the Crayfish Cherax Destructor
Introduction
Significance
References
Development of Sensorized Arm Skin for an Octopus Inspired Robot - Part I: Soft Skin Artifacts
Introduction
Characterization of Octopus Skin
Fabrication of Bomimetic Skin
Properties of Skin Artifact and Arm Skin Prototype
Development of Sensorized Arm Skin for an Octopus Inspired Robot - Part II: Tactile Sensors
Introduction
QTC Sensor
Soft Sensor
Integrating Sensors with the Arm Skin
Development of Sensorized Arm Skin for an Octopus Inspired Robot - Part III: Biomimetic Suckers
Introduction
Biomechanical Properties of Squid Suckers
First Design of Biomimetic Sucker
Second Design of Biomimetic Sucker
Decentralized Control Scheme That Enables Scaffold-Based Peristaltic Locomotion
Reference
Autonomous Decentralized Control Mechanism in Resilient Ophiuroid Locomotion
Reference
A Multi-agent Platform for Biomimetic Fish
Introduction
General Setup
References
The State-of-the-Art in Biomimetics
Action Development and Integration in an Humanoid iCub Robot
Theoretical Background and Proposed Methodology
Model and Experimental Scenario
Results and Conclusions
References
Insect-Like Odor Classification and Localization on an Autonomous Robot
Introduction
References
Autonomous Viewpoint Control from Saliency
Introduction
Method
Results
References
Bio-inspired Design of an Artificial Muscular-Hydrostat Unit for Soft Robotic Systems
References
Texture Classification through Tactile Sensing
References
Bio-inspiration for a Miniature Robot Inside the Abdomen
Motivation
Prototype of the Intra-abdominal Robot
Bio-inspiration for Adhesion Control and Locomotion
Systematic Construction of Finite State Automata Using VLSI Spiking Neurons
References
Self-burial Mechanism of Erodium cicutariumand Its Potential Application for Subsurface Exploration
References
Tragopogon dubius, Considerations on a Possible Biomimetic Transfer
References
Root-Soil Interaction Models for Designing Adaptive Exploring Robotic Systems
Introduction, FE Model and Preliminary Results
References
A Soft-Bodied Snake-Like Robot That Can Move on Unstructured Terrain
References
Direct Laser Writing of Neural Tissue Engineering Scaffolds for Biohybrid Devices
Introduction
Methods
Results and Conclusion
References
Biorobotic Actuator with a Muscle Tissue Driven by a Photostimulation
Introduction
Experimental Results
Reference
Shape Optimizing of Tail for Biomimetic Robot Fish
Introduction
Optimization of Tail Deviation Point and Shape in Moving to the Left and Right Directions
Conclusion
References
Intuitive Navigation of Snake-Like Robot with Autonomous Decentralized Control
References
Design of Adhesion Device Inspired by Octopus Sucker
Introduction
Design of the Artificial Suction Cup
References
Author Index

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