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Ants live in organized societies with a marked division of labor among workers, but little is known about how this division of labor is generated. We used a tracking system to continuously monitor individually tagged workers in six colonies of the ant Camponotus fellah over 41 days. Network analyses of more than 9 million interactions revealed three distinct groups that differ in behavioral repertoires. Each group represents a functional behavioral unit with workers moving from one group to the next as they age. The rate of interactions was much higher within groups than between groups. The precise information on spatial and temporal distribution of all individuals allowed us to calculate the expected rates of within- and between-group interactions. These values suggest that the network of interaction within colonies is primarily mediated by age-induced changes in the spatial location of workers.

Animal social networks are shaped by multiple selection pressures, including the need to ensure efficient communication and functioning while simultaneously limiting disease transmission. Social animals could potentially further reduce epidemic risk by altering their social networks in the presence of pathogens, yet there is currently no evidence for such pathogen-triggered responses. We tested this hypothesis experimentally in the antLasius nigerusing a combination of automated tracking, controlled pathogen exposure, transmission quantification, and temporally explicit simulations. Pathogen exposure induced behavioral changes in both exposed ants and their nestmates, which helped contain the disease by reinforcing key transmission-inhibitory properties of the colony’s contact network. This suggests that social network plasticity in response to pathogens is an effective strategy for mitigating the effects of disease in social groups.

Abstract-In this paper we present Salamandra robotica II, an amphibious salamander robot, that is able to walk and swim. The robot has four legs and an actuated spine that allow it to perform anguilliform swimming in water and walking on ground. The paper first presents the new robot hardware design, which is an improved version of Salamandra robotica I. We then address several questions related to body-limb coordination in robots and animals that have a sprawling posture like salamander and lizards as opposed to the erect posture of mammals (e.g., in cats and dogs). In particular, we investigate how the speed of locomotion and curvature of turning motions depend on various gait parameters such as the body-limb coordination, the type of body undulation (offset, amplitude and phase lag of body oscillations), and the frequency. Comparisons with animal data are presented, and our results show striking similarities with the gaits observed with real salamanders in particular concerning the timing of body's and limbs' movements and the relative speed of locomotion.

This article presents a project that aims at constructing a biologically inspired amphibious snake-like robot. The robot is designed to be capable of anguilliform swimming like sea-snakes and lampreys in water and lateral undulatory locomotion like a snake on ground. Both the structure and the controller of the robot are inspired by elongate vertebrates. In particular, the locomotion of the robot is controlled by a central pattern generator (a system of coupled oscillators) that produces travelling waves of oscillations as limit cycle behavior. We present the design considerations behind the robot and its controller. Experiments are carried out to identify the types of travelling waves that optimize speed during lateral undulatory locomotion on ground. In particular, the optimal frequency, amplitude and wavelength are thus identified when the robot is crawling on a particular surface.

An important problem in the control of locomotion of robots with multiple degrees of freedom (e.g., biomimetic robots) is to adapt the locomotor patterns to the properties of the environment. This article addresses this problem for the locomotion of an amphibious snake robot, and aims at identifying fast swimming and crawling gaits for a variety of environments. Our approach uses a locomotion controller based on the biological concept of central pattern generators (CPGs) together with a gradient-free optimization method, Powell's method. A key aspect of our approach is that the gaits are optimized online, i.e. while moving, rather than as an off-line optimization process.We present various experiments with the real robot and in simulation: swimming, crawling on horizontal ground, and crawling on slopes. For each of these different situations, the optimized gaits are compared with the results of systematic explorations of the parameter space. The main outcomes of the experiments are (1) optimal gaits are significantly different from one medium to the other, (2) the optimums are usually peaked, i.e. speed rapidly becomes suboptimal when the parameters are moved away from the optimal values, (3) our approach finds optimal gaits in much fewer iterations than the systematic search, and (4) the CPG has no problem dealing with the abrupt parameter changes during the optimization process. The relevance for robotic locomotion control is discussed. intersection between robotics, computational neuroscience, nonlinear dynamical systems, and applied machine learning. He is interested in using numerical simulations and robots to get a better understanding of sensorimotor coordination in animals, and in using inspiration from biology to design novel types of robots and adaptive controllers. With his colleagues, he has received the Best Paper

H u m a n a J o u r n a l s . c o mS e a r c h , R e a d , a n d Original Article AbstractThis article presents a project that aims at understanding the neural circuitry controlling salamander locomotion, and developing an amphibious salamander-like robot capable of replicating its bimodal locomotion, namely swimming and terrestrial walking. The controllers of the robot are central pattern generator models inspired by the salamander 's locomotion control network. The goal of the project is twofold: (1) to use robots as tools for gaining a better understanding of locomotion control in vertebrates and (2) to develop new robot and control technologies for developing agile and adaptive outdoor robots. The article has four parts. We first describe the motivations behind the project. We then present neuromechanical simulation studies of locomotion control in salamanders. This is followed by a description of the current stage of the robotic developments. We conclude the article with a discussion on the usefulness of robots in neuroscience research with a special focus on locomotion control.

Online trajectory generation for robots with multiple degrees of freedom is still a difficult and unsolved problem, in particular for non-steady state locomotion, that is, when the robot has to move in a complex environment with continuous variations of the speed, direction, and type of locomotor behavior. In this article we address the problem of controlling the non-steady state swimming and crawling of a novel fish robot. For this, we have designed a control architecture based on a central pattern generator (CPG) implemented as a system of coupled nonlinear oscillators. The CPG, like its biological counterpart, can produce coordinated patterns of rhythmic activity while being modulated by simple control parameters.To test our controller, we designed BoxyBot, a simple fish robot with three actuated fins capable of swimming in water and crawling on firm ground. Using the CPG model, the robot is capable of performing and switching between a variety of different locomotor behaviors such as swimming forwards, swimming backwards, turning, rolling, moving upwards/downwards, and crawling. These behaviors are triggered and modulated by sensory input provided by light, water, and touch sensors. Results are presented demonstrating the agility of the robot and interesting properties of a CPG-based control approach such as stability of the rhythmic patterns due to limit cycle behavior, and the production of smooth trajectories despite abrupt changes of control parameters.The robot is currently used in a temporary 15-month long exhibition at the EPFL. We present the hardware setup that was designed for the exhibition, and the type of interactions with the control system that allow visitors to influence the behavior of the robot. The exhibition is useful to test the robustness of the robot for long term use, and to demonstrate the suitability of the CPG-based approach for interactive control with a human in the loop.