Bio-mimetic Control of Mobile Robots Based on a Model of Bacterial Chemotaxis.

敏夫, 辻; 彰, 坂根; 修, 福田; 真, 金子; 久夫, 大竹

doi:10.1299/kikaic.68.2687

Cited by 5 publications

(4 citation statements)

References 2 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In addition, a genetic algorithm was applied in order to adjust some parameters in the model, realizing the generated trajectory to fit actually trajectories of bacteria. Then they applied the acquired model of a bacterium to a mobile robot with two wheels and a photo sensor detecting the intensity of the floor [10], and showed that the robot was able to approach the dark colored area.…”

Section: A Navigation Of Robot Inspired By Bacteriamentioning

confidence: 99%

1 DOF swimming robot inspired by bacterial motion mechanism

Shirai

Matsumoto

Koizumi

et al. 2009

2008 IEEE International Conference on Robotics and Biomimetics

View full text Add to dashboard Cite

Living organisms have various kinds of flexibility and robustness which are realized by "yuragi," or biological fluctuations or noises. Bacterial motion is an example of the noise-based motion, since they can move towards higher concentration of some chemical which they prefer although they have only a limited 1 DOF for mobility using that flagella. Bacteria also have only a limited sensory device which cannot detect the spatial gradient of the chemical at a time. The simple strategies that bacteria take to realize chemotaxis are (1) to tumble (or turn) to change orientation randomly being hit by surrounding water molecules with Brownian motion, and (2) to change the frequency of tumbling according to the change overtime of chemical concentration. In this paper, we describe a quite small and simple, 1 DOF swimming robot developed by mimicking the bacterial motion generation mechanism. The robot only has a single motor and a single sensor (a photo detector). However by changing orientation due to various noises which exist in the environment, and by changing the frequency of turning, the robot can approach its target. Experimental results indicate that the robot statistically approaches the target (a light source) in two dimensional space with a 1 DOF actuator, which is impossible for the robot to achieve without the utilization of the noises in the environment.

show abstract

Section: A Navigation Of Robot Inspired By Bacteriamentioning

confidence: 99%

1 DOF swimming robot inspired by bacterial motion mechanism

Shirai

Matsumoto

Koizumi

et al. 2009

2008 IEEE International Conference on Robotics and Biomimetics

View full text Add to dashboard Cite

show abstract

“…Among the research, much of it focuses on simple living organisms' movement behavior (Bianco, Cassinis, & Rizzi, 1997;Dee, Bahar, & Moss, 2008;Dhariwal, Sukhatme, & Requicha, 2004;Ishiguro, Shimizu & Kawakatsu, 2006;Kowadlo & Russell, 2008;Lytridis, Virk, Rebour & Kadar, 2001;Maye, Hsieh, Sugihara, & Brembs, 2007;Moller, Lambrinos, Pfeifer, & Wehner, 1998;Tsuji, Sakane, Fukuda, Kaneko, & Ohtake, 2002;Webre, Wolanin, & Stock, 2003). Some of the research results have also been applied to mobile robots.…”

Section: Introductionmentioning

confidence: 99%

“…In this research, we focus on the navigation behavior of bacteria – the smallest and simplest organisms on earth – known to be able to reach source of attractants with merely a 1-DOF actuator and a single sensor (Tsuji et al, 2002; Webre et al, 2003). While worms, for example, are also able to reach a source attractant with a single sensor, they are able to bend their bodies in different ways while moving forward as a response to sensory stimulation (Fraenkel & Gunn, 1961).…”

Section: Introductionmentioning

confidence: 99%

“…There are a number of research studies that proposed a navigation method for a mobile robot or agent inspired by bacterial movement (Dhariwal et al, 2004; Kowadlo, & Russell, 2008; Lytridis et al, 2001; Tsuji et al, 2002). These works commonly focused on bacteria-inspired strategy as a random walk behavior biased by the sensed gradient, enabling the robot to reach the source.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Bacteria-inspired underactuated mobile robot based on a biological fluctuation

et al. 2012

View full text Add to dashboard Cite

Interpretation of the living organism's ability to utilize noise from engineering point of view may be beneficial for realizing a simple, yet adaptive, robotic system. This paper presents a bacteria-inspired mobile robot, with a 1-DOF motor and a single sensor. Even with such limitations, the underactuated mobile robot is able to navigate toward a gradient-inducing goal in a two-dimensional space by properly utilizing environmental noise that directly affects its motion. The way the robot utilizes this external noise to control its navigation behavior is interpreted based on biological fluctuation: a simple perspective commonly used to describe how living beings utilize internally generated biological noises.

show abstract