From biology to engineering: Insect vision and applications to robotics

Srinivasan, Mandyam V.; Moore, Richard J. D.; Thurrowgood, Saul; Soccol, Dean; Bland, Daniel

doi:10.1007/978-3-211-99749-9_2

Cited by 18 publications

(21 citation statements)

References 61 publications

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“…Vision-based collision detection is widely used in robotics [26], [27]. For example, Suman et al [28] proposed a monocular obstacle detection and avoidance method for unmanned aerial vehicle (UAV).…”

Section: Related Work a Traditional Vision Based Collision Detecmentioning

confidence: 99%

Bio-Inspired Embedded Vision System for Autonomous Micro-Robots: The LGMD Case

Arvin

Chen

et al. 2017

IEEE Trans. Cogn. Dev. Syst.

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Abstract-In this paper, we present a new bio-inspired vision system embedded for micro-robots. The vision system takes inspiration from locusts in detecting fast approaching objects. Neurophysiological research suggested that locusts use a wide-field visual neuron called lobula giant movement detector (LGMD) to respond to imminent collisions. In this work, we present the implementation of the selected neuron model by a low-cost ARM processor as part of a composite vision module. As the first embedded LGMD vision module fits to a micro-robot, the developed system performs all image acquisition and processing independently. The vision module is placed on top of a microrobot to initiate obstacle avoidance behaviour autonomously. Both simulation and real-world experiments were carried out to test the reliability and robustness of the vision system. The results of the experiments with different scenarios demonstrated the potential of the bio-inspired vision system as a low-cost embedded module for autonomous robots.

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Section: Related Work a Traditional Vision Based Collision Detecmentioning

confidence: 99%

Bio-Inspired Embedded Vision System for Autonomous Micro-Robots: The LGMD Case

Arvin

Chen

et al. 2017

IEEE Trans. Cogn. Dev. Syst.

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“…flight speed to decrease progressively as they approach the ground [189,205]. Regulation of lateral image velocities at constant value is a simple and elegant solution that automatically reduces flight speed when negotiating a narrow passage or flying through densely cluttered environment [189,215].…”

Section: (I) Compound Eyesmentioning

confidence: 99%

Aerodynamics, sensing and control of insect-scale flapping-wing flight

et al. 2016

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There are nearly a million known species of flying insects and 13 000 species of flying warm-blooded vertebrates, including mammals, birds and bats. While in flight, their wings not only move forward relative to the air, they also flap up and down, plunge and sweep, so that both lift and thrust can be generated and balanced, accommodate uncertain surrounding environment, with superior flight stability and dynamics with highly varied speeds and missions. As the size of a flyer is reduced, the wing-to-body mass ratio tends to decrease as well. Furthermore, these flyers use integrated system consisting of wings to generate aerodynamic forces, muscles to move the wings, and sensing and control systems to guide and manoeuvre. In this article, recent advances in insect-scale flapping-wing aerodynamics, flexible wing structures, unsteady flight environment, sensing, stability and control are reviewed with perspective offered. In particular, the special features of the low Reynolds number flyers associated with small sizes, thin and light structures, slow flight with comparable wind gust speeds, bioinspired fabrication of wing structures, neuron-based sensing and adaptive control are highlighted.

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“…A key element of the model is how the aerodynamic drag on the wing acts on the rotational dynamics of the robotic fly. As the rotational dynamics are slow relative to the frequency of flapping at this scale [20], our analysis considers only stroke-averaged forces. A test of this vehicle flapping in a wind tunnel indicated that the stroke-averaged drag force on the wings is nearly linear with the incident airspeed for typical wing kinematics (figure 3).…”

Section: Analysis Of the Planar Modelmentioning

confidence: 99%

“…Although the rate of translational acceleration remains constant as scale decreases [8], obstacles may be nearer, requiring high frame rates and faster processing. Despite the difficulties imposed by small scale, demonstrations targeted at such vehicles, to name a few, include navigating confined spaces [13][14][15], a high-frame-rate (300 Hz) omnidirectional camera [16], obstacle avoidance using monocular vision [11,17] or stereo [18], altitude regulation [19,20], hovering [21] and an initial implementation on a robotic fly [12]. The first fly-sized robot to lift its own weight took inspiration from flying insects [6,22].…”

Section: Introductionmentioning

confidence: 99%

Controlling free flight of a robotic fly using an onboard vision sensor inspired by insect ocelli

Fuller

Karpelson

Censi

et al. 2014

J. R. Soc. Interface.

104

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Scaling a flying robot down to the size of a fly or bee requires advances in manufacturing, sensing and control, and will provide insights into mechanisms used by their biological counterparts. Controlled flight at this scale has previously required external cameras to provide the feedback to regulate the continuous corrective manoeuvres necessary to keep the unstable robot from tumbling. One stabilization mechanism used by flying insects may be to sense the horizon or Sun using the ocelli, a set of three light sensors distinct from the compound eyes. Here, we present an ocelli-inspired visual sensor and use it to stabilize a fly-sized robot. We propose a feedback controller that applies torque in proportion to the angular velocity of the source of light estimated by the ocelli. We demonstrate theoretically and empirically that this is sufficient to stabilize the robot's upright orientation. This constitutes the first known use of onboard sensors at this scale. Dipteran flies use halteres to provide gyroscopic velocity feedback, but it is unknown how other insects such as honeybees stabilize flight without these sensory organs. Our results, using a vehicle of similar size and dynamics to the honeybee, suggest how the ocelli could serve this role.

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From biology to engineering: Insect vision and applications to robotics

Cited by 18 publications

References 61 publications

Bio-Inspired Embedded Vision System for Autonomous Micro-Robots: The LGMD Case

Bio-Inspired Embedded Vision System for Autonomous Micro-Robots: The LGMD Case

Aerodynamics, sensing and control of insect-scale flapping-wing flight

Controlling free flight of a robotic fly using an onboard vision sensor inspired by insect ocelli

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