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MantisBot: A Platform for Investigating Mantis Behavior via Real-Time Neural Control

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Biomimetic and Biohybrid Systems (Living Machines 2015)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9222))

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Abstract

We present Mantisbot, a 28 degree of freedom robot controlled in real-time by a neural simulation. MantisBot was designed as a 13.3:1 model of a male Tenodera sinensis with the animal’s predominant degrees of freedom. The purpose of this robot is to investigate two main topics: 1. the control of targeted motion, such as prey-directed pivots and striking, and 2. the role of descending commands in transitioning between behaviors, such as standing, prey stalking, and walking. In order to more directly use data from the animal, the robot mimics its kinematics and range of motion as closely as possible, uses strain gages on its legs to measure femoral strain like insects, and is controlled by a realistic neural simulation of networks in the thoracic ganglia. This paper summarizes the mechanical, electrical, and software design of the robot, and how its neural control system generates reflexes observed in insects. It also presents preliminary results; the robot is capable of supporting its weight on four or six legs, and using sensory information for adaptive and corrective reflexes.

N.S. Szczecinski—This work was supported by a NASA Office of the Chief Technologists Space Technology Research Fellowship (Grant Number NNX12AN24H).

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Authors and Affiliations

  1. Case Western Reserve University, 10900 Euclid Ave., Cleveland, Ohio, 44106, USA

    Nicholas S. Szczecinski, David M. Chrzanowski, David W. Cofer, David R. Moore, Andrea S. Terrasi, Joshua P. Martin, Roy E. Ritzmann & Roger D. Quinn

Authors
  1. Nicholas S. Szczecinski
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  2. David M. Chrzanowski
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  3. David W. Cofer
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  4. David R. Moore
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  5. Andrea S. Terrasi
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  6. Joshua P. Martin
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  7. Roy E. Ritzmann
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  8. Roger D. Quinn
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Corresponding author

Correspondence to Nicholas S. Szczecinski .

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Editors and Affiliations

  1. University of Sheffield, Sheffield, United Kingdom

    Stuart P. Wilson

  2. Catalan Institution for Research and Advanced Studies, Universitat Pompeu Fabra, Barcelona, Spain

    Paul F.M.J. Verschure

  3. Universitat Pompeu Fabra, Barcelona, Spain

    Anna Mura

  4. University of Sheffield, Sheffield, United Kingdom

    Tony J. Prescott

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Szczecinski, N.S. et al. (2015). MantisBot: A Platform for Investigating Mantis Behavior via Real-Time Neural Control. In: Wilson, S., Verschure, P., Mura, A., Prescott, T. (eds) Biomimetic and Biohybrid Systems. Living Machines 2015. Lecture Notes in Computer Science(), vol 9222. Springer, Cham. https://doi.org/10.1007/978-3-319-22979-9_18

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  • DOI: https://doi.org/10.1007/978-3-319-22979-9_18

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-22978-2

  • Online ISBN: 978-3-319-22979-9

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