Behavioral models of the praying mantis as a basis for robotic behavior

Arkin, Ronald C.; Ali, Khaled; Weitzenfeld, Alfredo; Cervantes-Pérez, Francisco

doi:10.1016/s0921-8890(99)00121-9

Cited by 51 publications

(29 citation statements)

References 41 publications

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“…Each schema computes on the basis of its inputs to update its 'activation level' and internal state, and sends on appropriate outputs. A robot controller based on the ethology of the preying mantis [9] provided four different motivated visuomotor behaviors: prey acquisition, predator avoidance, mating and chantlitaxia (coined by Rolando Lara, from the Nahuatl word chantli for 'shelter' and the Latin taxia for 'attraction'). For prey acquisition, hunger is the primary motivator; for predator avoidance, fear serves similarly; for mating the sex drive dominates.…”

Section: Robot Ethologymentioning

confidence: 99%

Emotions: from brain to robot

Arbib

Fellous

2004

Trends in Cognitive Sciences

207

114

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Some robots have been given emotional expressions in an attempt to improve human-computer interaction. In this article we analyze what it would mean for a robot to have emotion, distinguishing emotional expression for communication from emotion as a mechanism for the organization of behavior. Research on the neurobiology of emotion yields a deepening understanding of interacting brain structures and neural mechanisms rooted in neuromodulation that underlie emotions in humans and other animals. However, the chemical basis of animal function differs greatly from the mechanics and computations of current machines. We therefore abstract from biology a functional characterization of emotion that does not depend on physical substrate or evolutionary history, and is broad enough to encompass the possible emotions of robots.Interest in the creation of robots with emotions is fourfold. First, current technology already shows the value of providing robots with 'emotional' expressions (e.g. computer tutors) and bodily postures (e.g. robot pets) to facilitate human-computer interaction. Second, this raises the question of the possible value (or inevitability) of future robots not only simulating emotional expression but actually 'having emotions'. Third, this in turn requires us to re-examine the neurobiology of emotion to generalize concepts first developed for humans and then extended to animals so that the question of robot emotions becomes meaningful. And fourth, this suggests in turn that building 'emotional robots' could also provide a novel test-bed for theories of biological emotion.This article samples the state of the art on current robot technology, and examines recent work on the neurobiology of emotions, to ground our suggestions for a scientific framework in which to approach robot 'emotions'. The question of 'emotional robots' being used to test theories of biological emotion is of great interest, but beyond the scope of this article. Different kinds of emotionsThere is a wide spectrum of feelings, from the 'motivation' afforded by drives such as the search for food afforded by hunger [1] to 'emotions' in which, at least in humans, cognitive awareness might be linked to feeling the 'heat' of love, sorrow or anger, and so on. But as we have no criterion for saying that a robot has 'feelings', we will seek here to understand emotions in their functional context, noting that not all emotions need be like human emotions. We analyze emotion in two main senses:(1) Emotional expression for communication and social coordination.(2) Emotion for organization of behavior (action selection, attention and learning).The first concerns 'external' aspect of emotions; the second 'internal' aspects. In animals, these aspects have co-evolved. How might they enter robot design? Both robots and animals need to survive and perform efficiently within their 'ecological niche' and, in each case, patterns of coordination will greatly influence the suite of relevant emotions (if such are indeed needed) and the means whereby they are co...

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Section: Robot Ethologymentioning

confidence: 99%

Emotions: from brain to robot

Arbib

Fellous

2004

Trends in Cognitive Sciences

207

114

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“…The main area of application has been wheel-driven, kinematically extremely simple robots, with the main focus on the robot's task, e.g. navigation and group behaviour (see Mataric 1997;Arkin et al 2000a;Endo & Arkin 2001).…”

Section: Controlmentioning

confidence: 99%

Biologically inspired walking machines: design, control and perception

Dillmann

Albiez

Gaßmann

et al. 2006

Phil. Trans. R. Soc. A.

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This article presents a set of methods used to support the design and control of biologically inspired walking machines. Starting with a description of the general system design idea, an example for the design of the mechanical construction, a computer supported design procedure for the control architecture and the description of a threedimensional world model to be used as knowledge base is given. The focus of this paper is on the engineering and integration process and the interrelation between the different phases of the design process.

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“…Particularly, we plan to use our mantis head platform mounted on miniature mobile robots in order to implement some of the visual behaviors of the praying mantis, as presented in [7]. We also plan to implement some of the realtime indoor navigation algorithms ([ZO], [?1], [IS]), using Leg0 mobile robots with the mantis head platform.…”

Section: Discussionmentioning

confidence: 99%

Judging distance by motion-based visually mediated odometry

Katsman

Bruckstein

Holt³

et al.

Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)

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Abstract-Inspired by the abilities of both the praying mantis and the pigeon to judge distance by use of motionbased visually mediated odometry, we create miniature models for depth estimation that are similar to the head movements of these animals. We develop mathematical models of the praying mantis and pigeon visual behavior and describe our implementations and experimental environment. We investigate structure from motion problems when images are taken from a camera whose focal point is translating according to each of the biological models. This motion in the first case is reminiscent of a praying mantis peering its head left and right, apparently to obtain depth perception, hence the moniker "mantis head camera." In the second case this motion is reminiscent of a pigeon hobbing its head hack and forth, also apparently to obtain depth perception, hence the moniker "pigeon head camera." We present the performance of the mantis head camera and pigeon head camera models and provide experimental results of the algorithms. We provide the comparison of the definitiveness of the results obtained by both models. The precision of our mathematical model and its implementation is consistent with the experimental facts obtained from various biological experiments.

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Behavioral models of the praying mantis as a basis for robotic behavior

Cited by 51 publications

References 41 publications

Emotions: from brain to robot

Emotions: from brain to robot

Biologically inspired walking machines: design, control and perception

Judging distance by motion-based visually mediated odometry

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