Robot-Animal Interaction: Perception and Behavior of Insbot

Author:

Asadpour Masoud1,Tâche Fabien1,Caprari Gilles1,Karlen Walter1,Siegwart Roland1

Affiliation:

1. Autonomous Systems Lab (), Ecole Polytechnique Fédérale de Lausanne (EPFL), CH-1015 Lausanne, Switzerland

Abstract

This paper describes hardware and behavior implementation of a miniature robot in size of a match box that simulates the behavior of cockroaches in order to establish a social interaction with them. The robot is equipped with two micro-processors dedicated to hardware processing and behavior generation. The robot can discriminate cockroaches, other robots, environment boundaries and shelters. It has also three means of communication to monitor, log, supervise the biological experiment, and detect the other robots in short range. The behavioral model of the robot is a mixture of fusion in low-level and arbitration in high-level. In arbitration level a stochastic state machine selects the proper subtask. Then in fusion level, that subtask is decomposed to a hierarchy of sub-tasks. Each sub-task generates a potential field. The resultant force is then mapped to an action.

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

Reference5 articles.

1. The American Cockroach

2. Architectures for a biomimetic hexapod robot

3. Mataric M.J. (1999). Behavior-Based Robotics, MIT Encyclopedia of Cognitive Sciences, Wilson Robert A. and Keil Frank C. (Eds.), MIT Press, 74–77

4. RHex: A Simple and Highly Mobile Hexapod Robot

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