Biomimetic and Biohybrid Systems

Name: Biomimetic and Biohybrid Systems | 4th International Conference, Living Machines 2015, Barcelona, Spain, July 28 - 31, 2015, Proceedings
Brand: Springer
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4th International Conference, Living Machines 2015, Barcelona, Spain, July 28 - 31, 2015, Proceedings

Stuart P. Wilson Paul F.M.J. Verschure Anna Mura Tony J. Prescott(Editor)

Springer (Publisher)

Published on 23. July 2015

XIII, 474 pages

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978-3-319-22979-9 (ISBN)

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Content

Intro
Preface
Organization
Contents
A Model of Larval Biomechanics Reveals Exploitable Passive Properties for Efficient Locomotion
1 Introduction
2 Model Construction
3 Results
3.1 Passive Dynamics of a Single Segment
Role of Model Parameters
3.2 Passive Dynamics of the Whole Body
3.3 Resonance and Preferred Input Timing
3.4 Generating Locomotion Through Local Positive Feedback
4 Discussion
References
Dynamic Walking with a Soft Limb Robot
1 Introduction
2 Design and Fabr rication
3 Control
4 Experimental Se et-up
5 Results and Disc cussion
5.1 Trotting
5.2 Pacing
5.3 Galloping
5.4 Stance and Flight Phase
5.5 Similarity to Biological Systems
6 Conclusion and Future Work
References
Worm-Like Robotic Locomotion with a Compliant Modular Mesh
1 Introduction
2 Design
2.1 Bi-directional Actuation
2.2 Mesh Structure
2.3 Electronics and Control
3 Robot Performance
4 Sensing
5 Conclusions
References
WormTIP: An Invertebrate Inspired Active Tactile Imaging Pneumostat
1 Introduction
2 Active Touch
2.1 Electro-Active Polymers
2.2 Pressurised Antagonistic DEAs
2.3 WormTIP
3 Methods and Experimental Setup
3.1 Fabrication
4 Results
4.1 Image Processing
4.2 Square Object
4.3 Circular Object
4.4 Flat Surface
5 Conclusion
References
Copying Nature - A Design of Hyper-Redundant Robot Joint/Support Based on Hydrostatic Skeleton
1 Introduction
2 The Design of the Artificial Muscular Hydrostatic Joint/Support
2.1 Strength and Weakness of the Evolved Artificial Muscular Hydrostatic Joint/Support
2.2 Some Hyper-redundant Bodies that can Make Use of this Design
3 An Adaptation of the Design to a Planar Biological Model
4 Tests, Results and Discussion
4.1 Biomimicry of the Joints
4.2 Stress Within the Most Critical Part
4.3 Field Test
5 Conclusions and Recommendation
An Under-Actuated and Adaptable Soft Robotic Gripper
1 Introduction
2 Materials and Methods
2.1 Design Concept of the Mechanical Structure
2.2 Cable-Driven Under-Actuated Mechanism
2.3 Material Choice and Finger Fabrication Process
3 Results and Discussions
4 Conclusions
References
Measuring the Local Viscosity and Velocity of Fluids Using a Biomimetic Tactile Whisker
1 Introduction and Motivation
2 Background
3 Method
3.1 Experiment 1: Flow Tank
3.2 Experiment 2: Whisk Tank
4 Results
5 Analysis
6 Conclusion
References
Biomimicry of the Manduca Sexta Forewing Using SRT Protein Complex for FWMAV Development
1 Introduction
2 Recombinant Squid Ring Teeth (SRT) Protein Complex
3 Wing Design an nd Fabrication
4 Summary and Future Work
References
Correlating Kinetics and Kinematics of Earthworm Peristaltic Locomotion
1 Introduction
2 Methods
3 Results
4 Discussion
References
Visualizing Wakes in Swimming Locomotion of Xenopus-Noid by Using PIV
1 Introduction
2 Method
3 Result
References
Biomimetic Approach for the Creation of Deployable Canopies Based on the Unfolding of a Beetle Wing and the Blooming of a Flower
Introduction
Literature Review
Wing Folding
Flower Blooming
Methodology
The Beetle Wing
The Flower
Results
Discussion
Conclusion
References
Biomimetic Tactile Sensing Capsule
1 Introduction
2 Biologically-Inspired Tactile Sensing Device
3 Experiment Design
3.1 Sensing Algorithm
4 Results
5 Conclusion
6 Future Work
References
Wings of a Feather Stick Together: Morphing Wings with Barbule-Inspired Latching
1 Introduction
2 Technical Approach
2.1 Controllable Dry Adhesives
2.2 Wing Prototype Design Description
3 Experimental Setup
3.1 Interlocking Adhesives Limit Curve
3.2 Wind Tunnel Test Experimental Procedure
4 Results and Discussion
4.1 Interlocking Adhesive Limit Curve Results
4.2 Aerodynamic Performance of the Latched and Unlatched Wing Prototype
5 Conclusions and Future Work
References
Obstacle-Avoidance Navigation by an Autonomous Vehicle Inspired by a Bat Biosonar Strategy
1 Introduction
2 Obstacle-Aiming System for Autonomous Vehicles
2.1 Vehicle Design
2.2 Measurement System
2.3 Results
3 Multi-Object-Detecting Navigation System
3.1 Vehicle Navigation Algorithm
3.2 Results
4 Discussion
References
Development of Piezoelectric Artificial Cochlea Inspired by Human Hearing Organ
1 Introduction
2 Design and Fabrication
3 Experimental Results
4 Conclusion
References
Visual Odometry and Low Optic Flow Measurement by Means of a Vibrating Artificial Compound Eye
1 Introduction
2 Eye Movements Inspired by the Fly's Visual Micro-scanning Movements
3 Insights Into the Visual Processing Algorithm
3.1 Edge and Bar Location by an Active Compound Eye
3.2 Hyperacute Localization of Contrasting Bars and Edges
3.3 Merging the Output of Local Pairs of Processing Units
4 Experimental Results
4.1 Measurement of Very Low Optic Flow
4.2 Short Range Visual Odometry
5 Conclusion
References
Closed-Loop Control in an Autonomous Bio-hybrid Robot System Based on Binocular Neuronal Input
1 Introduction
2 Methods
2.1 Bio-hybrid Robot System
2.2 Blowfly Preparation
2.3 Control Algorithm Design
3 Results
3.1 Robot Trajectory
3.2 H1-cell Responses
4 Discussion
4.1 Control Loop Analysis
4.2 Towards Collision Avoidance
5 Conclusion
References
MantisBot: A Platform for Investigating Mantis Behavior via Real-Time Neural Control
1 Introduction
2 Robot Hardware
2.1 Mechanical and Electrical Design
2.2 Mantis Kinematics
2.3 Robot Kinematics
3 Robot Control Architecture
3.1 AnimatLab-MantisBot Interface
3.2 Neural Controller - Single Joint Control
3.3 Neural Controller - Intraleg Control
4 Conclusions
References
The Vertical Optic Flow: An Additional Cue for Stabilizing Beerotor Robot's Flight Without IMU
1 Introduction
2 Beerotor's Airframe
3 Beerotor's Main Visuomotor Control Loops
4 Definition of the Vertical Ventral or Dorsal OF
5 Feedforward Control Based on the Vertical OF
6 Regulation of the Vertical OF During Landing
7 Conclusion
References
Route Following Without Scanning
1 Introduction
2 Methods
2.1 Navigation Algorithms
2.2 Robot Study
2.3 Simulation Study
3 Results
3.1 Successful Route Following by a Robot in the Real Ant Habitat
3.2 Klinokinesis Produces Accurate and Rapid Route Following in Simulation
4 Discussion
References
Using Animal Data and Neural Dynamics to Reverse Engineer a Neuromechanical Rat Model
1 Introduction
2 Model Description
3 Designing and Training Neural Output
3.1 Calculating Motor Neuron Activations
3.2 Designing CPGs
3.3 CPG Entrainment and Output
3.4 Afferent Influence of MN Activation
3.5 Additional Modifications
4 Walking Comparison
5 Conclusions
References
Entraining and Copying of Temporal Correlations in Dissociated Cultured Neurons
References
Remodeling Muscle Cells by Inducing Mechanical Stimulus
1 Introduction
2 Method
3 Results
References
Integration of Biological Neural Models for the Control of Eye Movements in a Robotic Head
1 Introduction
2 Robotic Setup
3 Neurocontroller
3.1 Eye Movements Integration
3.2 Saccades
3.3 Smooth Pursuit
3.4 Vergence
3.5 Vestibular-Ocular Reflex (VOR)
3.6 Microsaccades
4 Validation
5 Conclusions
References
Saying It with Light: A Pilot Study of Affective Communication Using the MIRO Robot
1 Introduction
2 MIRO
2.1 Aesthetics and Morphology
2.2 Platform
2.3 Control Architecture and Gross Behaviour
2.4 Modelling and Expressing Affect
3 Experimental Study
3.1 Methods
3.2 Results
4 Discussion
References
Integrating Feedback and Predictive Control in a Bio-inspired Model of Visual Pursuit Implemented on a Humanoid Robot
1 Introduction
2 Model
2.1 Predictor
2.2 Weighted Sum
3 Implementation
3.1 Backstepping-Based Controller as IDC
3.2 Neurocontroller as IDC
4 Results
4.1 Results for the Backstepping-Based Controller as IDC
4.2 Results for the Neurocontroller as IDC
5 Conclusions
References
Knowledge Transfer in Deep Block-Modular Neural Networks
1 Introduction
1.1 Block-Modular Network Architecture
2 Methods
2.1 Tasks
2.2 Neural Network Details
Original Neural Networks.
Block Neural Networks.
Cost Function.
Training.
Implementation.
3 Results
Original Neural Networks.
Adding 0-50-50 and 0-100-50 Blocks to Original Networks.
Adding 50-50-50 and 100-50-50 Blocks to Original Networks.
Adding Blocks to Pairs of Networks.
Adding Blocks to Triplets of Networks.
4 Conclusions
References
A Top-Down Approach for a Synthetic Autobiographical Memory System
1 Introduction and Motivation
2 Requirements for a Top-Down SAM System
3 A Top-Down Approach to SAM
3.1 Properties
3.2 Gaussian Processes
3.3 Top-Down SAM Architecture
4 Demonstration Using Human Faces Data
4.1 Face Rotations Experiment
4.2 Light Angle and Morphing Experiment
5 Discussion and Future Work
References
Crowdseeding: A Novel Approach for Designing Bioinspired Machines
1 Introduction
2 Related Work
3 Methods
3.1 First Stage: Crowdsourcing
3.2 Second Stage: Mining Latent Features
3.3 Third Stage: Seeding the Objective
4 Results
5 Discussion
6 Conclusion and Future Work
Studying the Coupled Learning of Procedural and Declarative Knowledge in Cognitive Robotics
1 Introduction
2 Knowledge Acquisition in the Multilevel Darwinist Brain
3 Illustrative Example Setup
4 Results on the Coupled Learning of Models and Behaviors
5 Conclusions
References
Damasio's Somatic Marker for Social Robotics: Preliminary Implementation and Test
1 Introduction
2 The Somatic Marker Hypothesis
3 The Iowa Gambling Task
4 The Somatic Marker integrated in an Artificial Agent
4.1 The Behavioural Rules Set
4.2 How the Events Affect the Emotional States
4.3 How Somatic Markers are Assigned to the Entities
4.4 How the SM is Exploited by the Cognitive System to Affect Behaviour
4.5 A Brief Consideration about the Implemented Somatic Marker Mechanism
5 Test and Results: Playing the Game
6 Conclusions
References
Learning Sensory Correlations for 3D Egomotion Estimation
1 Introduction
2 A Neurally Inspired Model for Learning Sensory Correlations
3 Instantiating the Model
4 Experimental Results
5 Conclusions
References
How iCub Learns to Imitate Use of a Tool Quickly by Recycling the Past Knowledge Learnt During Drawing
1 Introduction
2 Building Blocks
2.1 Visual Perception System
2.2 Action Generation System: Neural PMP, A Forward-Inverse Model
3 Learning to Imi tate the Use of Tool
4 Concluding Remarks
References
Children's Age Influences Their Perceptions of a Humanoid Robot as Being Like a Person or Machine
1 Introduction
1.1 Background
1.2 Use Case
2 Method
2.1 Design
2.2 Participants
2.3 Measures
2.4 Procedure
3 Results
4 Discussion
References
Help! I Can't Reach the Buttons: Facilitating Helping Behaviors Towards Robots
1 Background
1.1 Promoting Cooperation
1.2 Promoting Helping Behavior
2 ROBO-GUIDE Helping Scenario
3 Helping Behavior and Experimental Proposal
3.1 Influencing Trust and Cooperation
3.2 Influencing Ambiguity and Helping
3.3 Experimental Summary
References
Tactile Language for a Head-Mounted Sensory Augmentation Device
1 Introduction
2 A Sensory Augmentation System Inspired by the Mammalian Vibrissal System
3 System Overview w
3.1 Vibrotactile et Helme
3.2 Tracking System
4 Procedure
5 Discussion
References
An Energetically-Autonomous Robotic Tadpole with Single Membrane Stomach and Tail
1 Introduction
2 Methods and Processes
2.1 Energy Generation from MFC Artificial Stomachs
2.2 Actuation of IPMC Tail
3 Results
3.1 MFC Performance
3.2 IPMC Actuation
4 Discussion
5 Conclusion
References
Multi-objective Optimization of Multi-level Models for Controlling Animal Collective Behavior with Robots
1 Introduction
2 Multi-level Models
2.1 Ordinary Differential Equation Model
2.2 Finite State Machine Model
3 Results
3.1 Numerical Computation
3.2 Calibration of Models
3.3 Modulation of Collective Behavior by Robots
4 Discussion and Conclusion
References
Effects of the Robot's Role on Human-Robot Interaction in an Educational Scenario
1 Introduction
1.1 Educational Paradigm
Partnering and Peer Learning.
1.2 Social Robots and Education
Robots in Education.
2 Methodology
2.1 Experimental Setup and Procedure
2.2 Data Collection
3 Results
4 Discussion and Conclusion
References
Adaptive Bio-inspired Signals for Better Object Characterisation
1 Introduction
2 Dolphin's Adaptive Echolocation
3 Bio-inspired Echolocation
4 Adaptive Echolocation Concept
5 Conclusions
References
Mechanical Improvements to TCERA, a Tunable Compliant Energy Return Actuator
1 Introduction
2 Design Parameters
3 Mechanical Design
3.1 Mechanical Overview
3.2 Stiffness Mechanism
3.3 Position Control
3.4 Electronics
4 Future Work
References
Active Control for Object Perception and Exploration with a Robotic Hand
1 Introduction
2 Methods
2.1 Robotic Platform
2.2 Data Collection
2.3 Bayesian Estimator
2.4 Intrinsic Motivation for Active Exploration
3 Results
Object Exploration in Simulated Environment:
Object Exploration in Real Environment:
4 Conclusions
References
Fabrication of Electrocompacted Aligned Collagen Morphs for Cardiomyocyte Powered Living Machines
1 Introduction
2 Methods
2.1 Scaffold Fabrication
2.2 Cell Isolation and Culture
2.3 Stimulation Protocol
2.4 Imaging
2.5 Scaffold Characterization
3 Results
3.1 Effect of Fabrication Techniques on Collagen Alignment
3.2 Effect of Collagen Alignment on Cell Alignment
3.3 Living Machine Locomotion
4 Discussion
5 Conclusions
References
Extending a Hippocampal Model for Navigation Around a Maze Generated from Real-World Data
1 Introduction
2 The Hippocampus: A Unitary Coherent Particle Filter Model
3 The Hippocampal Model Implementation and Navigational Task
4 Extending the Hippocampal Model and Navigational Task
4.1 Making the Task More Realistic
'Real-World' Image Data a.
4.2 A Flexible, Reconfi igurable Maze
A Flexible Hippocampal Model.
5 Conclusions and Future Directions
5.1 Towards a Model of Human Autobiographical Memory
5.2 Future Objectives
References
Towards a Two-Phase Model of Sensor and Motor Learning
1 Introduction
2 A 2-Phase Model of Sensor and Motor Learning
3 Exploring Models of Perception
4 Preliminary Results
4.1 Inducing Plasticity by Changes in Learning Rate
4.2 Noise Filtering with E(%)max
5 Future Work
References
Telepresence: Immersion with the iCub Humanoid Robot and the Oculus Rift
1 Introduction
2 Methods
2.1 iCub Humanoid
2.2 Oculus Rift
2.3 Control Architecture
3 Results
4 Conclusions and Future Work
References
Biophilic Evolutionary Buildings that Restore the Experience of Animality in the City
1 Introduction
2 Behaviourally Biophilic Architecture
2.1 Robotized Architectural Elements
2.2 Passive-Aggressive Façade
3 Evolutionary Training
3.1 Experimental Results
3.2 Discussion
4 Conclusion and Future Work
References
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Biomimetic and Biohybrid Systems

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