Integrating sensorimotor systems in a robot model of cricket behavior

Barbara H. Webb; Reid R. Harrison

doi:10.1117/12.403710

16 October 2000 Integrating sensorimotor systems in a robot model of cricket behavior

Barbara H. Webb, Reid R. Harrison

Proceedings Volume 4196, Sensor Fusion and Decentralized Control in Robotic Systems III; (2000) https://doi.org/10.1117/12.403710
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

The mechanisms by which animals manage sensorimotor integration and coordination of different behaviors can be investigated in robot models. In previous work the first author has build a robot that localizes sound based on close modeling of the auditory and neural system in the cricket. It is known that the cricket combines its response to sound with other sensorimotor activities such as an optomotor reflex and reactions to mechanical stimulation for the antennae and cerci. Behavioral evidence suggests some ways these behaviors may be integrated. We have tested the addition of an optomotor response, using an analog VLSI circuit developed by the second author, to the sound localizing behavior and have shown that it can, as in the cricket, improve the directness of the robot's path to sound. In particular it substantially improves behavior when the robot is subject to a motor disturbance. Our aim is to better understand how the insect brain functions in controlling complex combinations of behavior, with the hope that this will also suggest novel mechanisms for sensory integration on robots.

Citation Download Citation

Barbara H. Webb and Reid R. Harrison "Integrating sensorimotor systems in a robot model of cricket behavior", Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); https://doi.org/10.1117/12.403710

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