This book presents biologically inspired walking machines interacting with their physical environment, and shows how the morphology and behavior control of machines can benefit from biological studies. The purpose is to develop a modular structure of neural control generating reactive behaviors of the physical walking machines, to analyze the neural mechanisms underlying them, and to demonstrate the sensor fusion technique leading to smooth switching between appropriate behaviors, like obstacle avoidance and sound tropism.
Author(s): Poramate Manoonpong
Edition: 1
Year: 2007
Language: English
Pages: 204
Contents......Page 13
1.1 Survey of Agent–Environment Interactio......Page 15
1.2 Aims and Objectives......Page 22
1.3 Organization of the Book......Page 25
2.1 Senses and Behavior of Animals......Page 27
2.2.1 A Salamander......Page 29
2.1.2 Prey Capture Behavior......Page 33
2.2 Morphologies of Walking Animals......Page 36
2.2.2 A Cockroach......Page 38
2.3 Locomotion Control of Walking Animals......Page 40
2.4 Conclusion......Page 43
3.1 Neural Networks......Page 44
3.1.1 A Biological Neuron......Page 45
3.1.2 An Artificial Neuron......Page 46
3.1.3 Models of Artificial Neural Networks......Page 49
3.2 Discrete Dynamics of the Single Neuron......Page 50
3.3 Evolutionary Algorithm......Page 54
3.4 Conclusion......Page 58
4.1.1 An Artificial Auditory–Tactile Sensor......Page 59
4.1.2 A Stereo Auditory Sensor......Page 61
4.1.3 Antenna-like Sensors......Page 63
4.2 Walking Machine Platforms......Page 67
4.2.1 The Four-Legged Walking Machine AMOS-WD02......Page 69
4.2.2 The Six-Legged Walking Machine AMOS-WD06......Page 73
4.3 Conclusion......Page 76
5.1 Neural Preprocessing of Sensory Signals......Page 78
5.1.1 Auditory Signal Processing......Page 79
5.1.2 Preprocessing of a Tactile Signal......Page 93
5.1.3 Preprocessing of Antenna-like Sensor Data......Page 98
5.2.1 The Neural Oscillator Network......Page 100
5.2.2 The Velocity Regulating Network......Page 105
5.2.3 The Modular Neural Controller......Page 109
5.3.1 The Obstacle Avoidance Controller......Page 110
5.3.2 The Sound Tropism Controller......Page 114
5.3.3 The Behavior Fusion Controller......Page 115
5.4 Conclusion......Page 122
6.1.1 The Artificial Auditory–Tactile Sensor Data......Page 123
6.1.2 The Stereo Auditory Sensor Data......Page 128
6.1.3 The Antenna-like Sensor Data......Page 133
6.2 Implementation on the Walking Machines......Page 136
6.2.1 Obstacle Avoidance Behavior......Page 138
6.2.2 Sound Tropism......Page 145
6.2.3 Behavior Fusion......Page 152
6.3 Conclusion......Page 155
7.1 Summary of Contributions......Page 156
7.2 Possible Future Work......Page 158
A.1 The AMOS-WD02......Page 160
A.2 The AMOS-WD06......Page 161
A.3 Mechanical Drawings of Servomotor Modules and the Walking Machines......Page 163
B. Symbols and Acronyms......Page 173
References......Page 175
E......Page 191
R......Page 192
Y......Page 193
