Open AccessRobot-Animal Interaction: Perception and Behavior of Insbot
Author(s) -
Masoud Asadpour,
Fabien Tâche,
Gilles Caprari,
Walter Karlen,
Roland Siegwart
Publication year - 2006
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/5752
Subject(s) - robot , computer science , task (project management) , perception , artificial intelligence , arbitration , field (mathematics) , action (physics) , human–computer interaction , real time computing , simulation , engineering , psychology , mathematics , neuroscience , law , political science , pure mathematics , physics , systems engineering , quantum mechanics
This paper describes hardware and behavior implementation of a miniature robot in size of a match box that simulates the behavior of cockroaches in order to establish a social interaction with them. The robot is equipped with two micro-processors dedicated to hardware processing and behavior generation. The robot can discriminate cockroaches, other robots, environment boundaries and shelters. It has also three means of communication to monitor, log, supervise the biological experiment, and detect the other robots in short range. The behavioral model of the robot is a mixture of fusion in low-level and arbitration in high-level. In arbitration level a stochastic state machine selects the proper subtask. Then in fusion level, that subtask is decomposed to a hierarchy of sub-tasks. Each sub-task generates a potential field. The resultant force is then mapped to an action
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