Neural preprocessing of auditory-wind sensory signals and modular neural control for auditory- And wind-evoked escape responses of walking machines

Autor(en): Manoonpong, P.
Wörgötter, F.
Pasemann, F.
Stichwörter: Agricultural robots; Autonomous hexapod robots; Biologically-inspired robots; Biomimetics, Escape behavior; Gryllus bimaculatus; Neural control; Neural controller; Physical environments; Preprocessing systems; Recurrent neural networks; Sensory signals; Six-legged walking; Walking machines, Low pass filters
Erscheinungsdatum: 2008
Herausgeber: IEEE Computer Society
Journal: 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
Volumen: 2008-January
Startseite: 786
Seitenende: 793
The flying crickets Teleogryllus oceanicus have sound sensitive organs to elicit an “acoustic startle response”. Another kind of the startle response is also evident in the cockroaches Periplaneta and the crickets Gryllus bimaculatus where they use their cercal filiform hairs (wind sensitive hairs) to trigger so called “wind-evoked escape behavior”. Similarly, in this paper a setup is described where an auditory-wind detector sensor and a neural preprocessing system together with a modular neural controller are used to simulate such animal behaviors in an abstract form on a six-legged walking machine. The neural preprocessing network acts as a low-pass filter and sensory shaping unit. In addition, the modular neural controller then generates the desired responses such that the machine performs a fast movement away from abrupt, intense, and unexpected auditory and/or wind stimulus in a physical environment. © 2008 IEEE
Conference of 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 ; Conference Date: 21 February 2009 Through 26 February 2009; Conference Code:55543
ISBN: 9781424426799
DOI: 10.1109/ROBIO.2009.4913100
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