Biomimetic robots and visual sensors account for insect's behaviors

Transcription

1 Biomimetic robots and visual sensors account for insect's behaviors Franck RUFFIER CNRS Research Scientist, Co-Head of the Biorobotics Lab. Institute of Movement Sciences, CNRS / Aix-Marseille University, France franck.ruffier@univ-amu.fr +,-*./$)0.,#,#!

2 Biorobotics Lab.

3 Ma et al 2013 Science

4 Insect compound eyes Franceschini J. Physiol. Paris Horridge

5 Optic flow Winged insects used the optic flow to navigate : ω ~ V D ( /s) 5!

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7 Source of inspiration: Srinivasan et al. 1989,1991,1996 A B Bees normally show centering behavior C Bees do not react to the distance from the walls but to the Optic Flow (OF) Bees may balance the lateral OF on either side

8 Honeybees in a much larger corridor Serres!et!al.!(2008)!Naturwissenscha7en,!vol.!95(12),!pp.!1181>1187!

9 Conclusions from these behavioral experiments In addition to centering behavior, bees can exhibit wall-following behavior. We refute the OF-balance hypothesis (Kirchner & Srinivasan,1989) because it cannot account for this wall-following behavior. We instead hypothesize that bees regulate (i.e., maintain constant) their lateral OF with respect to one wall (Serres et al. 2008), in the same way as they regulate their ventral OF from the ground below Hypothesis: bees control their distance from the walls by means of a lateral OF regulator that produces side thrust.

10 Zeil, Böddeker, Hemmi (2008) Side thrust (and hence lateral speed) results from roll motion of the thorax

11 The two components of speed, V x and V y, seem to be controlled independently V x : forward speed V y : side speed From: Kirchner and Srinivasan (1989)

12 The robot LORA Roubieu et al. (2014) Bioinspir. Biomim.

13 Optic flow (OF) measurement Forward Thrust Forward dynamics Forward Vx speed y L + - D L Left OF! L! Lmes Left OF sensor Left optic flow! L! Rmes Right OF sensor Right optic flow! R Ordinate y Side Thrust Side speed V y Side dynamics! y R + - D R Right OF! R

14 Selection of the wall to follow Forward Thrust Forward dynamics Forward Vx speed y L + - D L Left OF! L! Lmes Left OF sensor Left optic flow! L MAX! Rmes Right OF sensor Right optic flow! R - + Ordinate y SIGN Side Thrust Side speed V y Side dynamics! y R + - D R Right OF! R

15 The side control loop Speed control loop? Forward Thrust Forward dynamics Forward Vx speed y L + - D L Left OF! L! Lmes Left OF sensor Left optic flow! L MAX! Rmes Right OF sensor Right optic flow! R - + Ordinate y SIGN x " Side - +! setside Unilateral optic flow set-point Side Controller Side Thrust Side speed V y Side dynamics! y R + - D R Right OF! R

16 Speed control loop: Source of inspiration Observation: «Bees tend to keep their flight speed proportional to the corridor width» Conclusion: «The speed of flight is controlled by regulating the image velocity» Srinivasan et al. (1996)

17 LORA III: Forward control loop+side control loop Bilateral optic flow set-point! setfwd + - " Fwd + +! Lmes Forward controller Left OF sensor Forward Thrust Forward dynamics Left optic flow! L Forward Vx speed y L + - D L Left OF! L MAX! Rmes Right OFsensor Right optic flow! R - + Ordinate y SIGN x " Side - +! setside Unilateral optic flow set-point Side Controller Side Force Side speed V y Side dynamics! y R + - D R Right OF! R

18 LORA hovercraft robot Roubieu et al. (2014) Bioinspir. Biomim. => Lateral and speed control with 2 pairs of pixels <.!

19 Roubieu et al. (2014) Bioinspir. Biomim.

20 Roubieu et al. (2014) Bioinspir. Biomim.

21 Roubieu et al. (2014) Bioinspir. Biomim.

22 Roubieu et al. (2014) Bioinspir. Biomim.

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25 Dual optic flow regulation Using Optic Flow regulation directly in a control loop that manipulates forces + without measuring nor estimating states in any inertial frame of reference The LORA robot mimics and accounts for insect behaviors

26 CURVACE Artificial compound eye. 15 mm Floreano et al. (2013) PNAS CURVACE (ICT/FET) European project

27 CURVACE Artificial compound eye. 15 mm 1 st programmable artificial compound eye 630 Delbrück pixels (42x15) Mass: 2.5 grams Floreano et al. (2013) PNAS CURVACE (ICT/FET) European project Field Of View: 180 x 60

28 Floreano et al. (2014) PNAS

29 Floreano et al. (2014) PNAS

30 Comparison between CurvACE and the fly s eye Floreano et al. (2014) PNAS

31 Comparison between CurvACE and the fly s eye Floreano et al. (2014) PNAS

32 Comparison between CurvACE and the fly s eye Floreano et al. (2014) PNAS

33 Beerotor robot is robust to light changes

34 Marseilles Flying Arena

35 Thank you!!