DocumentCode :
663379
Title :
Adaptive control system of an insect brain during odor source localization
Author :
Minegishi, Ryo ; Takahashi, Y. ; Takashima, A. ; Kurabayashi, Daisuke ; Kanzaki, R.
Author_Institution :
Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Tokyo, Japan
fYear :
2013
fDate :
3-7 Nov. 2013
Firstpage :
357
Lastpage :
362
Abstract :
To realize an autonomous odor source localization robot, we focused on the adaptability of an insect´s brain to compensate for rotational disturbances during odor source searching behavior. We manipulated motor outputs to control the sensory feedback of an insect using a brain-machine hybrid system. This system is composed of an insect´s head and a two-wheeled mobile robot. The velocity of the robot is proportional to neural activities descending from an insect brain. We successfully manipulated the behavior of the robot. In disturbance experiments, insects responded to given rotational disturbances by modifying their neural activities to make compensative angular velocity. We assumed this control system of the compensation as an output-error model. We calculated the parameters under different motor gains to reveal it as an adaptive controller. We propose that an insect has its appropriate angular velocity during odor source localization, and performed simulation experiments involving an odor source searching agent and odor distribution environment. We calculated the cost for odor source localization by changing the angular velocity of the agent, and found that it had the minimum value.
Keywords :
adaptive control; angular velocity control; brain; electronic noses; feedback; mobile robots; angular velocity; autonomous odor source localization robot; brain-machine hybrid system; insect brain adaptability; motor gains; motor output manipulation; neural activities; odor distribution environment; odor source searching agent; odor source searching behavior; output-error model; robot behavior; rotational disturbance compensation; sensory feedback control; two-wheeled mobile robot; Adaptation models; Angular velocity; Clocks; Insects; Legged locomotion; Robot sensing systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location :
Tokyo
ISSN :
2153-0858
Type :
conf
DOI :
10.1109/IROS.2013.6696376
Filename :
6696376
Link To Document :
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