Active interaction utilizing micro mobile robot and on-line data gathering for experiments in cricket pheromone behavior

Kawabata, Kuniaki; Aonuma, Hitoshi; Hosoda, Koh; Xue, Jianru

doi:10.1016/j.robot.2013.04.021

Cited by 6 publications

(8 citation statements)

References 19 publications

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“…Utilizing this system, we attempted fundamental interaction experiments (Fig. 3) and confirmed that video data could be gathered on-line [3]. Kai and Okada [12] developed a system for recording the locomotion and neural activities of the cricket.…”

Section: Video Recording and Tracking Of Agentsmentioning

confidence: 74%

“…1 Configuration of a system for experientally investigating the interaction of a robot with a cricket Fig. 2 Interaction between male cricket and micro mobile robot with male cricket head color tracking of subjects similarly to [3], where the body surface color (blackish) of the cricket and a color marker (reddish) on the robot are tracked. In our developed tracking method, no markers or artificial objects are added on the cricket's body.…”

Section: Video Recording and Tracking Of Agentsmentioning

confidence: 99%

“…Basically, the following descriptions presume to use of our presented method [3], which provides the positions of both agents. Figure 3 shows an example of a birds-eye view image which was captured by the developed interaction system.…”

Section: Pose Estimation Of Both Agentsmentioning

confidence: 99%

“…1) Get an estimated robot's position � � and estimate the cricket's position � � by a particle filter tracking process (using the method and the parameters in [3]) on the captured image. 2) Select an inscribed square in the tracked particles determined from the Mahalanobis distance (using the method and the parameters in [3]).…”

Section: Pose Estimation Of Both Agentsmentioning

confidence: 99%

“…Since individual behavior and group behavior emerged from interactions between individuals, experimental systems contributing to important discussions on interaction are imperative. On the other hand, we have already started to develop an active interaction/on-line visual data gathering system for the cricket (Gryllus bimaculatus) [3]. The cricket is known as a solitary species of insect, but it shows behavior switching through the interaction with others that is representative of the pheromone behavior in insects [4].…”

Section: Introductionmentioning

confidence: 99%

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Image-Based Pose Estimation for Analyzing Cricket-Robot Interaction Behavior

Kawabata

Aonuma

Takahashi

et al. 2014

Journal of Signal Processing

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This paper describes an image-based agent's pose estimation method for supporting experiments on cricket-micro mobile robot interactions. Crickets modify their behavior selection tendency as a result of experience and the context based on the interaction with other crickets. Such a behavior selection mechanism with a tiny brain is a typical example to understand the adaptability of animals. Behavior observations in such interaction experiment sometime impose a burden on the experimenter. Therefore, in our previous works, we reported the development of a visual tracking method for two agents. However, it only tracked the positions of the agents. In this paper, utilizing our method, we also develop an image-processing algorithm for simultaneous pose estimation based on visual features related to the head part of each agent. We conducted estimation experiments based on video recordings of cricket-robot interactions and confirmed that our proposed method could estimate the pose of both agents. This method will help to efficiently analyze behavioral data during interaction experiments.Keywords: pose estimation, interaction behavior experiments, image processing, micro mobile robot, mobiligence IntroductionThe results of the biological research often provide valuable and indispensable knowledge of how animals behave adaptively in real-time. They not only show the animals' flexibility, but also suggest how to design artifacts with adaptive functions. From this viewpoint, new biological findings are having a major impact on society. The ordinary biological approach usually involves the analysis of target animals and the behaviors at each organizational level of biological systems. Recently, a new trend in biological approaches has emerged that involves agent-based behavior experiments such as the introduction of an artificial agent into behavioral experimental setup. In contrast to ordinary biological experiments, this approach is novel in that experimental conditions are set and adjusted by operating the artificial agent such as a mobile robot. This kind of methodology has attracted attention in the field of experimental biology, as noted in a previous report on [1]. Behavioral experiments utilizing artificial agent are expected to provide new biological knowledge. To achieve this, experiments have to be conducted while sustaining objectivity and reproducibility. Such experiments can also contribute to a deeper understanding of the adaptive behavior selection mechanism of the cricket by expanding our approach to behavioral biology through the fusion of biology and engineering. Halloy et al. [2] conducted an experiment on the coexistence of cockroaches and autonomous micro mobile robots with a chemical substance on their cockroach-body surface. They showed that the number of individuals in a shelter affected the behavior of the cockroach group in an environment with no intervention of the operators. However, the interactions between individuals were controlled indirectly by adjusting the population density of i...

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Section: Video Recording and Tracking Of Agentsmentioning

confidence: 74%

Section: Video Recording and Tracking Of Agentsmentioning

confidence: 99%

Section: Pose Estimation Of Both Agentsmentioning

confidence: 99%

Section: Pose Estimation Of Both Agentsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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