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TROB
2008

Templates and Anchors for Antenna-Based Wall Following in Cockroaches and Robots

8 years 11 months ago
Templates and Anchors for Antenna-Based Wall Following in Cockroaches and Robots
The interplay between robotics and neuromechanics facilitates discoveries in both fields: nature provides roboticists with design ideas, while robotics research elucidates critical features that confer performance advantages to biological systems. Here we explore a system particularly well suited to exploit the synergies between biology and robotics: high-speed antennabased wall following of the American cockroach (Periplaneta americana). Our approach integrates mathematical and hardware modeling with behavioral and neurophysiological experiments. Specifically, we corroborate a prediction from a previously reported wall-following template--the simplest model that captures a behavior--that a cockroach antenna-based controller requires rate of approach to a wall in addition to distance, e.g. in the form of a proportional-derivative (PD) controller. Neurophysiological experiments reveal that important features of the wall-following controller emerge at the earliest stages of sensory proce...
J. Lee, S. N. Sponberg, Owen Y. Loh, Andrew G. Lam
Added 15 Dec 2010
Updated 15 Dec 2010
Type Journal
Year 2008
Where TROB
Authors J. Lee, S. N. Sponberg, Owen Y. Loh, Andrew G. Lamperski, Robert J. Full, Noah J. Cowan
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