Biomimetic approaches to the control of underwater walking machines

Abstract

We have developed a biomimetic robot based on the American lobster. The robot is designed to achieve the performance advantages of the animal model by adopting biomechanical features and neurobiological control principles. Three types of controllers are described. The first is a state machine based on the connectivity and dynamics of the lobster central pattern generator (CPG). The state machine controls myomorphic actuators based on shape memory alloys (SMAs) and responds to environmental perturbation through sensors that employ a labelled-line code. The controller supports a library of action patterns and exteroceptive reflexes to mediate tactile navigation, obstacle negotiation and adaptation to surge. We are extending this controller to neuronal network-based models. A second type of leg CPG is based on synaptic networks of electronic neurons and has been adapted to control the SMA actuated leg. A brain is being developed using layered reflexes based on discrete time map-based neurons.

Fundamentals of soft robot locomotion

“…inspiration [3,16,38,90] to more faithful reproductions of the biological counterpart [43,124,143], but all robots exploit their compliant components to obtain quantitative (or qualitative) advantages. By comparing the different locomotion modalities, we can highlight the recurrent benefit of energy management.…”

Controlling Underwater Robots with Electronic Nervous Systems

“…In this system, a neuronal oscillator generates a three-phase pattern and command inputs select different behaviours by gating synapses within the network (Ayers 2004). Figure 1 illustrates an existing biomimetic robot based on the lobster (Ayers and Witting 2007). The robot consists of an 8 in.…”

“…We have developed several biomimetic sensors necessary to mediate reactive tactile navigation on the ocean bottom (Ayers and Witting 2007). All sensors code information with a labelled line code.…”

“…Biorobotic studies can provide unique insights into the critical variables in the control of behaviour by neuronal networks (Horchler et al 2003). We have previously demonstrated biomimetic robots built with finite-state machines that mimic the operation of endogenous central pattern generators (Ayers et al 2000;Ayers and Witting 2007). These controllers capture the dynamics and logic of the motor pattern generators of the model animals ).…”

Biologically Inspired Robots

“…Many of the controllers developed for robots have been patterned on this organization. This includes controllers for insects (Arena et al, 2004;Beer et al, 1992;Dean et al, 1999), other arthropods (Ayers &Witting, 2007), andvertebrates (Fukuota et al, 2003;Ijspeert et al, 2005). Ferrell evaluated several different designs of controllers (Ferrell, 1995).…”