Biomimetic and Biohybrid Systems: 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–31, 2020, Proceedings

Preface
Organization
Contents
Improving Recall in an Associative Neural Network Model of the Hippocampus
1 Introduction
2 Materials and Methods
2.1 Neural Network Model
2.2 Inputs
2.3 Network Training and Testing
2.4 Memory Patterns
2.5 Recall Performance Measure
2.6 Mean Recall Quality
2.7 Model Selection
3 Results and Discussion
4 Conclusions
References
Iterative Learning Control as a Framework for Human-Inspired Control with Bio-mimetic Actuators
1 Introduction
2 From Motor Control to Motion Control
3 Experimental Results
4 Conclusions
References
Efficient Fine-Grained Object Detection for Robot-Assisted WEEE Disassembly
1 Introduction
2 Methods
3 Experiments
4 Conclusions
References
Integrated Topological Planning and Scheduling for Orchestrating Large Human-Robot Collaborative Teams
1 Introduction
1.1 Contribution
1.2 Paper Outline
2 Related Work
2.1 Orchestration of Large HR Teams
2.2 The Role of Topological Organization
2.3 Illustrative Example
3 Two-Stage Planning-Scheduling Approach
3.1 Topological and Task Planning
3.2 Detailed Task Scheduling
4 Experimental Validation
5 Discussion
6 Conclusion
References
Programming Material Intelligence: An Additive Fabrication Strategy for Self-shaping Biohybrid Components
1 Introduction
2 Results
2.1 Functional Patterns for 3D-printing
2.2 Strategy for Integrating Wood Bilayer Actuators
2.3 Multi-material Additive Fabrication and Actuation
3 Conclusion
3.1 Discussion
3.2 Outlook and Future Work
References
Multi-material 3D-Printer for Rapid Prototyping of Bio-Inspired Soft Robotic Elements
1 Introduction
2 Printer Design
2.1 Printer Geometry and Work Principle
2.2 Coupling Interface
2.3 Lock Mechanism
2.4 Additional Enhancements
2.5 Print-Heads
3 Characterization
3.1 Pneumatic Actuator
3.2 Pneumatic Finger
3.3 Stiff Actuator with Flexible Membrane
4 Conclusion
References
Kinematic and Kinetic Analysis of a Biomechanical Model of Rat Hind Limb with Biarticular Muscles
1 Introduction
2 Methods
2.1 Biomechanical Modeling
2.2 Length-Tension Curve
2.3 Muscle Properties and Passive Tension
2.4 Inverse Kinematic Analysis
3 Results
3.1 Muscle Parameters
3.2 Muscle Profile During Walking
4 Discussion
Appendix
References
How to Reduce Computation Time While Sparing Performance During Robot Navigation? A Neuro-Inspired Architecture for Autonomous Shifting Between Model-Based and Model-Free Learning
1 Introduction
2 Materials and Methods
2.1 A Robotic Architecture with a Dual Decision-Making System
2.2 The Decision Layer
2.3 The Experimental Task
3 Results
3.1 Simulated Task
3.2 Real Task
4 Discussion
References
An Image-Based Method for the Morphological Analysis of Tendrils with 2D Piece-Wise Clothoid Approximation Model
1 Introduction
2 Method
2.1 Weighted Sorting Skeletonization
2.2 Discrete Curvature Estimation
2.3 Automatic Selection of Segment Number
2.4 2D Piece-Wise Clothoid Representation
3 Results and Analysis
4 Discussion and Future Works
References
Cholinergic Control of Chaos and Evidence Sensitivity in a Neocortical Model of Perceptual Decision-Making
References
Biomechanical Characterization of Hook-Climber Stems for Soft Robotic Applications
1 Introduction
2 Materials and Methods
2.1 Biological Materials
2.2 Tensile Tests
2.3 Statistics
3 Main Results
3.1 Variation of Structural and Mechanical Properties Along the Stem
4 Conclusions and Future Perspectives
References
Robotics Application of a Method for Analytically Computing Infinitesimal Phase Response Curves
1 Introduction
2 Methods
2.1 Motor Dynamics
2.2 Neural Dynamics
2.3 Interfacing the Dynamics
2.4 Deriving/Generating Analytically the Infinitesimal Phase Response Curves (IPRCs)
3 Results
3.1 Simulation of the Full System
3.2 Infinitesimal Phase Response Curve
4 Discussion
References
Machine Morality: From Harm-Avoidance to Human-Robot Cooperation
1 Introduction
2 The Utilitarian and the Deontological Brain
3 Computational Models of Moral Decision-Making
4 Aversive and Appetitive Foundations of Moral Decision-Making
5 Machine-Morality-as-Cooperation Through Distributed Adaptive Control
6 Machine-Morality-as-Cooperation: Prescriptive and Functional Implementations
7 Discussion
References
Haptic Object Identification for Advanced Manipulation Skills
1 Problem Statement
2 Related Work
2.1 Contribution
3 Haptic Exploration
3.1 Grid-Based Exploration
3.2 Shape-Based Exploration
4 Object Identification
5 Evaluation
5.1 Grid-Based Exploration
5.2 Shape-Based Identification
6 Conclusion
References
Response of a Neuromechanical Insect Joint Model to Inhibition of fCO Sensory Afferents
1 Introduction
2 Methods
3 Results
3.1 Normal Case Open and Closed Loop Behavior
3.2 Effect of Sensory Neurons on Motion
4 Discussion
References
Distributed Adaptive Control: An Ideal Cognitive Architecture Candidate for Managing a Robotic Recycling Plant
1 Introduction
2 WEEE Recycling Plant
3 Distributed Adaptive Control
4 DAC at the Single-Agent Level
4.1 Previous Implementations of DAC: Navigation
4.2 Previous Implementations of DAC: Human-Robot Interaction
4.3 Previous Implementations of DAC: Motor Control
5 DAC at the Large-Scale Level
6 Multi-scale DAC: A Micro-Recycling Plant
6.1 Micro-Plant Design
6.2 Future Benchmarks and Expected Results
7 Discussion
References
Standing on the Water: Stability Mechanisms of Snakes on Free Surface
1 Introduction
2 Morphology, Physiology and Ethology of Aquatic Snakes
3 Large Deformation Approach to Investigate Body Poses
4 How to Stabilize the Head Configuration
5 Conclusion
References
From Models of Cognition to Robot Control and Back Using Spiking Neural Networks
1 Introduction
1.1 Biologically Inspired Artificial Cognition and Spiking Neurons
2 Background
2.1 Challenges with Robotic Implementations of Spiking Neural Networks
2.2 SNN Models of Reaching
3 Methods
3.1 Program Design
3.2 Hardware
3.3 Experiment Design
4 Results
5 Discussion and Conclusions
References
A Framework for Resolving Motivational Conflict via Attractor Dynamics
1 Introduction
2 Behaviour Under Motivational Conflict
3 Recasting Motivational Conflict
4 Simulation Results
5 Discussion
References
Insect Inspired View Based Navigation Exploiting Temporal Information
1 Introduction
2 Methods
3 Results
4 Discussion
References
Split-Belt Adaptation Model of a Decerebrate Cat Using a Quadruped Robot with Learning
1 Introduction
1.1 Walking of a Decerebrate Cat on a Split-Belt Treadmill
1.2 Proposal of the Gait Adaptation Model of a Decerebrate Cat
1.3 Indexes and Values of Parameters
2 Leg Controller (LC)
3 Spinal Cat Model for the Leg Phase Transition
3.1 Frigon's Model
3.2 Employing Frigon's Model into the LC
3.3 Split-Belt Walking with the Spinal Cat Model
4 Decerebrate Cat Model with Learning for Late Adaptation
4.1 Employing Step Distance Adjustment into the Spinal Cat Model
4.2 Split-Belt Walking with the Decerebrate Cat Model
5 Conclusion
References
A Simple Platform for Reinforcement Learning of Simulated Flight Behaviors
1 Motivation
2 OpenAI Gym Environment
3 Related Work
4 Results to Date
5 Code
References
Biohybrid Wind Energy Generators Based on Living Plants
1 Introduction
2 Materials and Methods
2.1 Plant Species
2.2 Assembly of Plant-Biohybrid Energy Harvesters
2.3 Data Acquisition and Analysis
3 Results and Discussion
3.1 Concept and Components of the Plant Biohybrid Wind Energy Harvesters
3.2 Energy Harvesting Electrode at the Plant Tissue
3.3 Wind-Induced Electrical Signals and Mechanical Behavior of the Plant Biohybrid Energy Harvester
3.4 Powering LEDs and a Thermal Sensor Under Wind Excitation
4 Conclusions
References
Snapshot Navigation in the Wavelet Domain
1 Introduction
2 Methods
3 Results
4 Discussion
References
Optimization of Artificial Muscle Placements for a Humanoid Bipedal Robot
1 Introduction
2 Methods
2.1 Human and Previous Robot Models
2.2 Cost Function
3 Results
4 Discussion and Conclusion
References
Robofish as Social Partner for Live Guppies
1 Introduction
2 Methods
2.1 Experimental Setup and Design
2.2 Procedure of the Behavioural Experiment
2.3 Analysis
3 Results
4 Discussion and Outlook
References
Bioinspired Navigation Based on Distributed Sensing in the Leech
1 Introduction
2 Materials and Methods
2.1 Stimuli Generation
2.2 Spike Rate Generation
2.3 Elliptical Model Construction
2.4 Behavioral Algorithm
2.5 Navigational Environment
2.6 Experimental Setup
3 Results
4 Discussion and Conclusions
References
A Plausible Mechanism for Drosophila Larva Intermittent Behavior
1 Introduction
2 Materials and Methods
2.1 Experimental Dataset
2.2 Bout Annotation and Distribution
3 Results
3.1 Network Model of Binary Units Reproduces Larval Statistics of Intermittent Behavior
3.2 Parameterization of Larval Intermittent Behavior
3.3 Modification of Rest and Activity Bout Durations in Mutant Flies
4 Discussion
4.1 Self-limiting Inhibitory Waves Might Underlie Intermittent Crawling and Its Modulation
4.2 Intermittency Can Extend Functional Models of Larva Locomotion
4.3 Limitations
References
Robophysical Modeling of Bilaterally Activated and Soft Limbless Locomotors
1 Introduction
2 Materials and Methods
3 Results and Discussion
4 Conclusion
References
A Synthetic Nervous System Model of the Insect Optomotor Response
1 Introduction
2 Methods
2.1 Robotic Hardware
2.2 Synthetic Nervous System Organization and Design
2.3 Structure and Function of the Optic Lobe Model
3 Results
4 Discussion
References
Using the Neural Circuit of the Insect Central Complex for Path Integration on a Micro Aerial Vehicle
1 Introduction
2 Methods
2.1 Robotic Platform
2.2 Ground Speed Estimates from Optical Flow and Matched Filters
2.3 The Central Complex (CX) Circuit
2.4 Test Procedure
3 Results
4 Discussion
References
Can Small Scale Search Behaviours Enhance Large-Scale Navigation?
1 Introduction
2 Methods
3 Results
4 Discussion
References
Modeling the Dynamic Sensory Discharges of Insect Campaniform Sensilla
1 Introduction
2 Methods
2.1 Animal Experimental Methods
2.2 Modeling Methods
3 Results
3.1 Model Tuning and Generalization
3.2 Emergent Properties of the Model
4 Discussion
References
Evaluation of Possible Flight Strategies for Close Object Evasion from Bumblebee Experiments
1 Introduction
2 Background
2.1 Biological Findings and Their Possible Technical Application
2.2 Experimental Set-Up
3 Results
3.1 Influence of the Distance on the Decision
3.2 Introducing the HV-Index
3.3 Influence of Distances, Speed, Acceleration, Width-to-Distance, and Height-to-Distance on the Decision
4 Discussion
4.1 Discussion of Results
4.2 Technical Implementation
5 Conclusion
References
Biomimetic Design of a Soft Robotic Fish for High Speed Locomotion
1 Introduction
2 Design
2.1 Motor
2.2 Active and Passive Tail
2.3 Body Length
2.4 Body Shape and Pectoral, Anal, and Dorsal Fins
2.5 Caudal Fin Shape
3 Fabrication and Experimental Setup
3.1 Materials and Fabrication
3.2 Measurement Setup
4 Results
5 Conclusion
References
The Use of Social Sensorimotor Contingencies in Humanoid Robots
1 Introduction
1.1 Social Sensorimotor Contingencies and Personality in Social Robotics
1.2 The Social Significance of Selfies
2 Methods
2.1 Setup
3 Results
3.1 Experiment 1 - Selfie Taking in Humans
3.2 Experiment 2 - Evaluation of Robot Gestures
3.3 Experiment 3 - The Selfie Task with the Robot
4 Discussion and Conclusions
References
Fast Reverse Replays of Recent Spatiotemporal Trajectories in a Robotic Hippocampal Model
1 Introduction
2 Methods
2.1 Network Architecture
2.2 Network Dynamics
2.3 Two-Stage Dynamics
3 Results
3.1 Searching for a Hidden Reward
3.2 Removing Intrinsic Plasticity and Short-Term Plasticity
4 Discussion
4.1 Scope for Future Research
References
Using Animatlab for Neuromechanical Analysis: Linear Hill Parameter Calculation
1 Introduction
2 Modeling Methods
2.1 The Linear Hill Muscle Model
2.2 Formulation of Passive Muscle Parameters
2.3 Physics Timestep Limits for Calculating Tension
2.4 Steady State Length-Tension Stability Criteria
3 Application to a Rat Model
4 Discussion
5 Conclusion
References
Spatio-Temporal Memory for Navigation in a Mushroom Body Model
1 Introduction
2 Methods
2.1 Input: Bio-inspired Event-Based Camera
2.2 Mushroom Body Spiking Neural Network
3 Experiments and Results
4 Discussion
References
Author Index