A Dung Beetle-like Leg and its Adaptive Neural Control

Giuliano Di Canio, Stoyan Stoyanov, Jørgen Christian Larsen, John Hallam, Alexander Kovalev, Thomas Kleinteich, Stanislav Gorb, Poramate Manoonpong

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

Resumé

Dung beetles show fascinating locomotion abilities. They can use their legs to not only walk but also manipulate objects. Furthermore, they can perform their leg movements at a proper frequency with respect to their biomechanical properties and quickly adapt the movements to deal with external perturbations. Understanding the principles of their biomechanics and neural computation and transferring them to artificial systems remain a grand challenge. According to
this, we present here a first prototype of a real dung beetle-like leg developed by analyzing real dung beetle legs through micoCT scans. We also apply adaptive neural control, based on a central pattern generator (CPG) circuit with synaptic plasticity, to autonomously generate a proper stepping frequency of the leg. The controller can also adapt the leg movement to deal with external perturbations within a few steps.
OriginalsprogEngelsk
TitelProceedings of the First International Symposium on Swarm Behavior and Bio-Inspired Robotics
Antal sider4
ForlagSWARM
Publikationsdato2016
StatusUdgivet - 2016
Begivenhed1st International Symposium on Swarm Behavior and Bio-Inspired Robotics - Kyoto, Japan
Varighed: 26. okt. 201528. okt. 2015
Konferencens nummer: 1

Konference

Konference1st International Symposium on Swarm Behavior and Bio-Inspired Robotics
Nummer1
LandJapan
ByKyoto
Periode26/10/201528/10/2015

Fingeraftryk

Biomechanics
Plasticity
Controllers
Networks (circuits)

Bibliografisk note

Published on USB

Citer dette

Di Canio, G., Stoyanov, S., Larsen, J. C., Hallam, J., Kovalev, A., Kleinteich, T., ... Manoonpong, P. (2016). A Dung Beetle-like Leg and its Adaptive Neural Control. I Proceedings of the First International Symposium on Swarm Behavior and Bio-Inspired Robotics SWARM.
Di Canio, Giuliano ; Stoyanov, Stoyan ; Larsen, Jørgen Christian ; Hallam, John ; Kovalev, Alexander ; Kleinteich, Thomas ; Gorb, Stanislav ; Manoonpong, Poramate. / A Dung Beetle-like Leg and its Adaptive Neural Control. Proceedings of the First International Symposium on Swarm Behavior and Bio-Inspired Robotics. SWARM, 2016.
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title = "A Dung Beetle-like Leg and its Adaptive Neural Control",
abstract = "Dung beetles show fascinating locomotion abilities. They can use their legs to not only walk but also manipulate objects. Furthermore, they can perform their leg movements at a proper frequency with respect to their biomechanical properties and quickly adapt the movements to deal with external perturbations. Understanding the principles of their biomechanics and neural computation and transferring them to artificial systems remain a grand challenge. According tothis, we present here a first prototype of a real dung beetle-like leg developed by analyzing real dung beetle legs through micoCT scans. We also apply adaptive neural control, based on a central pattern generator (CPG) circuit with synaptic plasticity, to autonomously generate a proper stepping frequency of the leg. The controller can also adapt the leg movement to deal with external perturbations within a few steps.",
keywords = "Locomotion control, Neural control, Embodied learning, Dung beetle, Insects",
author = "{Di Canio}, Giuliano and Stoyan Stoyanov and Larsen, {J{\o}rgen Christian} and John Hallam and Alexander Kovalev and Thomas Kleinteich and Stanislav Gorb and Poramate Manoonpong",
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Di Canio, G, Stoyanov, S, Larsen, JC, Hallam, J, Kovalev, A, Kleinteich, T, Gorb, S & Manoonpong, P 2016, A Dung Beetle-like Leg and its Adaptive Neural Control. i Proceedings of the First International Symposium on Swarm Behavior and Bio-Inspired Robotics. SWARM, 1st International Symposium on Swarm Behavior and Bio-Inspired Robotics, Kyoto, Japan, 26/10/2015.

A Dung Beetle-like Leg and its Adaptive Neural Control. / Di Canio, Giuliano; Stoyanov, Stoyan; Larsen, Jørgen Christian; Hallam, John; Kovalev, Alexander; Kleinteich, Thomas ; Gorb, Stanislav ; Manoonpong, Poramate.

Proceedings of the First International Symposium on Swarm Behavior and Bio-Inspired Robotics. SWARM, 2016.

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

TY - GEN

T1 - A Dung Beetle-like Leg and its Adaptive Neural Control

AU - Di Canio, Giuliano

AU - Stoyanov, Stoyan

AU - Larsen, Jørgen Christian

AU - Hallam, John

AU - Kovalev, Alexander

AU - Kleinteich, Thomas

AU - Gorb, Stanislav

AU - Manoonpong, Poramate

N1 - Published on USB

PY - 2016

Y1 - 2016

N2 - Dung beetles show fascinating locomotion abilities. They can use their legs to not only walk but also manipulate objects. Furthermore, they can perform their leg movements at a proper frequency with respect to their biomechanical properties and quickly adapt the movements to deal with external perturbations. Understanding the principles of their biomechanics and neural computation and transferring them to artificial systems remain a grand challenge. According tothis, we present here a first prototype of a real dung beetle-like leg developed by analyzing real dung beetle legs through micoCT scans. We also apply adaptive neural control, based on a central pattern generator (CPG) circuit with synaptic plasticity, to autonomously generate a proper stepping frequency of the leg. The controller can also adapt the leg movement to deal with external perturbations within a few steps.

AB - Dung beetles show fascinating locomotion abilities. They can use their legs to not only walk but also manipulate objects. Furthermore, they can perform their leg movements at a proper frequency with respect to their biomechanical properties and quickly adapt the movements to deal with external perturbations. Understanding the principles of their biomechanics and neural computation and transferring them to artificial systems remain a grand challenge. According tothis, we present here a first prototype of a real dung beetle-like leg developed by analyzing real dung beetle legs through micoCT scans. We also apply adaptive neural control, based on a central pattern generator (CPG) circuit with synaptic plasticity, to autonomously generate a proper stepping frequency of the leg. The controller can also adapt the leg movement to deal with external perturbations within a few steps.

KW - Locomotion control

KW - Neural control

KW - Embodied learning

KW - Dung beetle

KW - Insects

M3 - Article in proceedings

BT - Proceedings of the First International Symposium on Swarm Behavior and Bio-Inspired Robotics

PB - SWARM

ER -

Di Canio G, Stoyanov S, Larsen JC, Hallam J, Kovalev A, Kleinteich T et al. A Dung Beetle-like Leg and its Adaptive Neural Control. I Proceedings of the First International Symposium on Swarm Behavior and Bio-Inspired Robotics. SWARM. 2016