Abstract
In this paper, we investigate control architectures that combine implicit models of behavior with ubiquitous sensory input, for soft hyper-redundant robots. Using a Wilson-Cowan neuronal model in a continuum arrangement that mirrors the arrangement of muscles in an earthworm, we can create a wide range of steady waves with descending signals. Here, we demonstrate how sensory feedback from individual segment strains can be used to modulate the behavior in desirable ways.
This work was supported by the NSF grant IIS-1065489 and by Roger D. Quinn and Hillel J. Chiel.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Ostrowski, J., Burdick, J.: Gait Kinematics for a Serpentine Robot. In: Proc. IEEE Int. Conf. Robotics and Automation (ICRA), Minneapolis, MN, vol. 2, pp. 1294–1299 (1996)
Hannan, M.W., Walker, I.D.: Analysis and Initial Experiments for a Novel Elephant’s Trunk Robot. In: Proc. IEEE Int. Conf. Intelligent Robots and Systems (IROS), pp. 330–337 (2000)
Menciassi, A., Gorini, A., Pernorio, G., Dario, P.: A SMA Actuated Artificial Earthworm. In: Proc. Int. Conf. Robotics and Automation, ICRA (2004)
Tsakiris, D.P., Sfakiotakis, M., Menciassi, A., La Spina, G., Dario, P.: Polchaete-like Undulatory Robotic Locomotion. In: Proc. IEEE Int. Conf. Robotics and Automation (ICRA), Barcelona, Spain, pp. 3018–3023 (2005)
Trimmer, B., Takesian, A., Sweet, B.: Caterpillar locomotion: a new model for soft-bodied climbing and burrowing robots. In: Proc. 7th Int. Symp. Technology and the Mine Problem, Monterey, CA (2006)
Wang, K., Yan, G.: Micro robot prototype for colonoscopy and in vitro experiments. J. Med. Eng. & Tech. 31(1), 24–28 (2007)
Omori, H., Nakamura, T., Yada, T.: An underground explorer robot based on peristaltic crawling of earthworm. Industrial Robot 36(4), 358–364 (2009)
Hirose, S.: Biologically Inspired Robots: Snake-Like Locomotors and Manipulators. Oxford University Press, Oxford (1993)
Hatton, R.L., Choset, H.: Generating gaits for snake robots: annealed chain fitting and keyframe wave extraction. Auton. Robot. 28, 271–281 (2010)
Ijspeert, A.J., Crespi, A., Ryczko, D., Cabelguen, J.M.: From swimming to walking with a salamander robot driven by a spinal cord model. Science 315(5817), 1416–1420 (2007)
Brusca, R.C., Brusca, G.J.: Invertebrates. Sinauer Associates, Sunderland
Ekeberg, Ö., Griller, S.: Simulations of neuromuscular control in lamprey swimming. Philos. Trans. R. Soc. Lond. B. Biol. Sci. 354, 895–902 (1999)
Quillin, K.J.: Kinematic scaling of locomotion by hydrostatic animals: ontogeny of peristaltic crawling by the earthworm lumbricusterrestris. J. Exp. Biol. 202, 661–674 (1999)
Boxerbaum, A.S., Chiel, H.J., Quinn, R.D.: Continuous Wave Peristaltic Locomotion. International Journal of Robotics Research (January 2012)
Boxerbaum, A.S., Chiel, H.J., Quinn, R.D.: A New Theory and Methods for Creating Peristaltic Motion in a Robotic Platform. In: Proc. Int. Conf. Robotics and Automation (ICRA), pp. 1221–1227 (2010)
Quinn, R.D., Nelson, G.M., Ritzmann, R.E., Bachmann, R.J., Kingsley, D.A., Offi, J.T., Allen, T.J.: Parallel Strategies for Implementing Biological Principles Into Mobile Robots. Int. J. Robotics Research 22(3), 169–186 (2003)
Mangan, E.V., Kingsley, D.A., Quinn, R.D., Chiel, H.J.: Development of a peristaltic endoscope. In: Proc. IEEE Int. Conf. Robotics and Automation (ICRA), pp. 347–352 (2002)
Ayers, J., Cricket, W., Chris, O.: Lamprey Robots. In: Proc. Int. Symp. Aqua Biomechanisms (2000)
Zhang, D., Hu, D., Shen, L., Xie, H.: Design of an artificial bionic neural network to control fish-robot’s locomotion. Neurocomputing 71, 648–654 (2008)
Ijspeert, A.J.: Central pattern generators for locomotion control in animals and robots: A review. Neural Networks 21, 642–653 (2008)
Matsuo, T., Yokoyama, T., Ueno, D., Ishii, K.: Biomimetic Motion Control System Based on a CPG for an Amphibious Multi-Link Mobile Robot. J. Bionic Eng. Suppl., 91–97 (2008)
Wadden, T., Hellgren, J., Lansner, A., Grillner, S.: Intersegmental coordination in the lamprey: simulations using a network model without segmental boundaries. Biol. Cybernetics 76, 1–9 (1997)
Boyle, J., Berri, S., Cohen, N.: Gait Modulation in C. Elegans: An Integrated Neuromechanical Model. Frontiers in Computational Neuroscience (March 2012)
Moore, A.R.: Muscle tension and reflexes in earthworm. Journal of General Physiology 5, 327 (1923)
Gray, J., Lissmann, W.: Studies in Animal Locomotion VII: Locomotory reflexes in the Earthworm. Journal of Experimental Biology 15, 506–517
Collier, H.: Central nervious activity in the earthworm. Journal of Experimental Biology (1939)
Boxerbaum, A.S., Horchler, A.D., Shaw, K., Chiel, H.J., Quinn, R.D.: A Controller for Continuous Wave Peristaltic Locomotion. In: International Conference on Intelligent Robots and Systems, IROS (2011)
Wilson, H.R., Cowan, J.D.: Excitatory and Inhibitory Interactions in Localized Populations of Model Neurons. Biophys. J. 12, 1–24 (1972)
Ermentrout, G.B., Cowan, J.D.: A Mathematical Theory of Visual Hallucination Patterns. Biol. Cybernetics 34, 137–150 (1979)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Boxerbaum, A.S., Daltorio, K.A., Chiel, H.J., Quinn, R.D. (2012). A Soft-Body Controller with Ubiquitous Sensor Feedback. In: Prescott, T.J., Lepora, N.F., Mura, A., Verschure, P.F.M.J. (eds) Biomimetic and Biohybrid Systems. Living Machines 2012. Lecture Notes in Computer Science(), vol 7375. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31525-1_4
Download citation
DOI: https://doi.org/10.1007/978-3-642-31525-1_4
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-31524-4
Online ISBN: 978-3-642-31525-1
eBook Packages: Computer ScienceComputer Science (R0)