A Conserved Biomimetic Control Architecture for Walking, Swimming and Flying Robots

Ayers, Joseph; Blustein, Daniel; Westphal, Anthony

doi:10.1007/978-3-642-31525-1_1

Cited by 6 publications

(9 citation statements)

References 19 publications

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“…Advances in nonlinear dynamics [29,30] have yielded technologies that allow for the control of robots by synaptic networks in real time [1,23]. Controlling robots with neuronal and synaptic networks provides a powerful heuristic framework to compare and evaluate different hypothetical network topologies and candidate mechanisms for the control of behavior [2,43]. However, this approach requires the development of an autonomous flying biomimetic platform that can interface with sensors and actuators.…”

Section: Supported By Nsf Itr Expeditions Grant 0925751mentioning

confidence: 99%

“…Previous efforts to engineer autonomous flight have adopted such biologically inspired sensors but neglect neuronal control principles [8,9,45]. As the details of the dynamics of the mechanical system of Robobee emerge [15,24] we have been addressing the possiblity of adapting neuronal network control [2] to the control of the steering system [11] for directed foraging.…”

Section: Supported By Nsf Itr Expeditions Grant 0925751mentioning

confidence: 99%

“…The NS IC runs the DTM neurons and synapses. The connectors are outlined by boxes: [1] 5ch RC receiver; [2] output to rotors and servos; [3] two UART lines to processor SP; [4] SPI programming jack for processor SP; [5] programming jack for processor NS; [6] I2C bus for SP processor/UART to NS processor. B.…”

Section: Fig 2 Top and Bottom Views Of The Nervous System Microprocmentioning

confidence: 99%

“…What is less understood is how these rules are realized by neuronal networks in the central nervous system [34]. Given the methodological difficulties in recording from neurons in behaving animals, we have taken an alternative approach to circuit tracing: embodied simulation through robotics [2,39,40]. Comparative physiology and biomimetics provide numerous examples of how many aspects of behavior are mediated by neuronal networks [28,37].…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

A Biomimetic Neuronal Network-Based Controller for Guided Helicopter Flight

Westphal

Blustein

Ayers

2013

Biomimetic and Biohybrid Systems

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Abstract. As part of the Robobee project, we have modified a coaxial helicopter to operate using a discrete time map-based neuronal network for the control of heading, altitude, yaw, and odometry. Two concepts are presented: 1. A model for the integration of sensory data into the neural network. 2. A function for transferring the instantaneous spike frequency of motor neurons to a pulse width modulated signal required to drive motors and other types of actuators. The helicopter is provided with a flight vector and distance to emulate the information conveyed by the honeybee's waggle dance. This platform allows for the testing of proposed networks for adaptive navigation in an effort to simulate honeybee foraging on a flying robot.

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Section: Supported By Nsf Itr Expeditions Grant 0925751mentioning

confidence: 99%

Section: Supported By Nsf Itr Expeditions Grant 0925751mentioning

confidence: 99%

Section: Fig 2 Top and Bottom Views Of The Nervous System Microprocmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A Biomimetic Neuronal Network-Based Controller for Guided Helicopter Flight

Westphal

Blustein

Ayers

2013

Biomimetic and Biohybrid Systems

Self Cite

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“…Build or choose a robotic platform with appropriate sensors for the selected behaviors in order to run the neural network simulation. While a dedicated robot can be constructed such as RoboLobster 12 or the Sprawl (cockroach) robot family 13 , here we use a commercially available kit to expedite the experimental process. The LEGO Mindstorms NXT 2.0 kit, providing templates, modular components and established sensors, allows for the rapid physical construction of the robot.…”

Section: Building the Robot Modelmentioning

confidence: 99%

Designing and Implementing Nervous System Simulations on LEGO Robots

Blustein

Rosenthal

Ayers³

2013

JoVE

Self Cite

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We present a method to use the commercially available LEGO Mindstorms NXT robotics platform to test systems level neuroscience hypotheses. The first step of the method is to develop a nervous system simulation of specific reflexive behaviors of an appropriate model organism; here we use the American Lobster. Exteroceptive reflexes mediated by decussating (crossing) neural connections can explain an animal's taxis towards or away from a stimulus as described by Braitenberg and are particularly well suited for investigation using the NXT platform.1 The nervous system simulation is programmed using LabVIEW software on the LEGO Mindstorms platform. Once the nervous system is tuned properly, behavioral experiments are run on the robot and on the animal under identical environmental conditions. By controlling the sensory milieu experienced by the specimens, differences in behavioral outputs can be observed. These differences may point to specific deficiencies in the nervous system model and serve to inform the iteration of the model for the particular behavior under study. This method allows for the experimental manipulation of electronic nervous systems and serves as a way to explore neuroscience hypotheses specifically regarding the neurophysiological basis of simple innate reflexive behaviors. The LEGO Mindstorms NXT kit provides an affordable and efficient platform on which to test preliminary biomimetic robot control schemes. The approach is also well suited for the high school classroom to serve as the foundation for a hands-on inquiry-based biorobotics curriculum. Video LinkThe video component of this article can be found at

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A nitric oxide sensor fabricated through e-jet printing towards use in bioelectronics interfaces

Myers

Ayers

2018

J Appl Electrochem

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A Conserved Biomimetic Control Architecture for Walking, Swimming and Flying Robots

Cited by 6 publications

References 19 publications

A Biomimetic Neuronal Network-Based Controller for Guided Helicopter Flight

A Biomimetic Neuronal Network-Based Controller for Guided Helicopter Flight

Designing and Implementing Nervous System Simulations on LEGO Robots

A nitric oxide sensor fabricated through e-jet printing towards use in bioelectronics interfaces

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