Location:

Marine Science Center

May 14-16, 2000

Organizers:

Joseph Ayers Marine Science Center Northeastern University East Point, Nahant, MA 01908 (781) 581-7370 lobster@neu.edu

Joel Davis Office of Naval Research 800 North Quincy Street, Ballston Tower One Arlington, VA 22217-5660 (703) 696-4744 davisjl@onr.navy.mil

Alan Rudolph DARPA/DSO 3701 North Fairfax Drive Arlington, VA 22203-1714 (703) 696-2240 arudolph@darpa.mil<

Animals have evolved to occupy every environment where one might wish to operate a robot, save outer space. In most cases animal performance transcends the efficiency and agility possible with current engineering solutions. Until recently, there were few examples of actuators that might permit the linear actuation characteristic of animal systems. Moreover advances in transducers and MEMs technology now permit sensors which code environmental information in the same fashion as animal sensors. Combined with new methods of computational network modeling, these advances have permitted development of a new class of truly biomimetic robots. Swimming robots achieve propulsion by whole body undulations or tail flapping. Walking robots use multiple jointed legs to mediate locomotion. Inroads are even being made in flying robots which locomote by flapping wings.

These robotic systems represent the forefront of neurotechnology that implements engineering solutions through the application of biological control and transducer principles. This neurotechnology affords the opportunity to produce truly reactive autonomous robots. Studies of animal behavior have extended these capabilities to reactive navigation and investigation. The integration of these higher order animal control schemes with biomimetic sensors and actuators may revolutionize robotics.

, CNRS Marseille

Visual sensors using eye movements
Oliver Landolt,, Agilent Technologies Inc.,

Using Biology to Guide Development of an Artificial Olfactory System
Joel White, Shalini Mall, John S. Kauer, Tufts University School of Medicine

Biomimetic Actuators

SMA Actuators Applied To Biomimetic Underwater Robots
Jan Witting, Koray Safak and George G. Adams, Northeastern University

Engineering a Muscle: An Approach to Artificial Muscle Based on Field-activated Electroactive Polymers
Roy Kornbluh, Robert Full, Kenneth Meijer, Ron Pelrine, Subramanian V. Shastri, SRI International], U.C., Berkeley

Polymer-Based MEMS Actuators for Biomimetics
Robert Horning and Burgess Johnson, Honeywell Technology Center

A Piezoelectrically-Actuated Mesoscale Robot Quadruped
Michael Goldfarb, Michael Gogola, Gregory Fischer, Vanderbilt University, Nikola Celanovic, Ivan Celanovic, Virginia Polytechnic University, Ephrahim Garcia, DARPA/DSO

Biomimetic Control Architectures

Optimization of Swimming Locomotion by Genetic Algorithm
Dr. David Barrett (MIT & iRobot Corporation)

Biomechanical primitives and heterarchical control of limb motion in tetrapods.
Simon F Giszter MCPHU School of Medicine

A Conservative Biomimetic Control Architecture for Autonomous Underwater Robots
Joseph Ayers, Northeastern University


Vehicles

Vehicles: Overview
Polly Pook,iRobot

Undulatory and Swimming Robots

Snake Robots for Search and Rescue
Gavin S. P. Miller
SnakeRobots.com

A Lamprey-Based Undulatory Vehicle
Cricket Wilbur, William Vorus, Yusong Cao, Scott Currie, Northeastern University, Univ of New Orleans, UC Riverside

Biomimetics in Action: Design and Performance of an Autonomous Robotic Fish Jamie M. Anderson, Peter A. Kerrebrock, Charles Stark Draper Laboratory

Development and Experiment of Two-Joint Dolphin Robot
Motomu Nakashima and Kyosuke Ono, Tokyo Institute of Technology

Pectoral Fin Controllers
Naomi Kato, Tokai University

Ambulatory Robots
The Role of Reflexes Versus Central Pattern Generators in Dynamical Legged Locomotion
Eric Klavins, Haldun Komsuoglu, Robert J. Full and Daniel E. Koditschek, Univ. Michigan, UC Berkeley

A decentralized, biologically based network for autonomous control of (hexapod) walking
H. Cruse, J. Dean, V. Dürr, Th. Kindermann, J. Schmitz, M. Schumm, University of Bielefeld

Toward the Development of Agile and Mission Capable Legged Robots
Roger D. Quinn, Gabriel M. Nelson, and Roy E. Ritzmann, Case Western Reserve University

A Biologically Inspired Apporach Towards Robust Real World Locomotion In Legged Robots
Frank Kirchner*, Dirk Spenneberg and Ralf Linnemann, GMD

Flying Robots

The organisation of insect locomotion systems and computer-based flight control in the tobacco hawkmoth Manduca sexta.
Gernot Wendler, University of Koln

A Micromechanical Flying Insect Thorax
Ronald S. Fearing, Srinath Avadhanula, Domenico Campolo, Metin Sitti, Joseph Yan, and Robert Wood, UC Berkeley

The Entomopter
Robert C. Michelson,  Georgia Institute of Technology


Autonomous Behavior

Autonomous Behavior: Overview
Wendell Sykes, Context Systems

Visual Homing without Image Matching
Ralf Möller , University of Zurich,

Phonotaxis in Crickets and Robots
Barbara Webb & Reid Harrison, University of Stirling

Flow and Chemo-Sense for Robot and Lobster Guidance in Tracking Chemical Sources in Turbulence
Frank W. Grasso,  Boston University Marine Program

Sensory Fusion in Free-Flight Search Behavior of Fruit Flies
Michael Dickinson, Lance Tammero, Michael Tarstino,  UC Berkeley

Visual Flight Control and Navigation in Honeybees, and Applications to Robotics
Mandyam V. Srinivasan, Australian National University

Speakers Web Links Neurotechnology Biomimetic Sensors Nick McGruer (NU) Paul Zavracky (Microoptical Corp): Biomimetic MEMs Sensors Reid Harrison (CalTech) Fly-Inspired VLSI Vision Sensors John Kauer (Tufts): Electronic Noses Nicolas Franceschini (CNRS Marseilles): Optical flow Sensors Oliver Landolt (Cal Tech) Moving Eye Sensors Biomimetic Actuators Jan Witting & Koray Safak(NU): SMA Actuators Roy Kornbluh (SRI) Electroactive Polymer Artificial Muscle Bob Horning (Honeywell) Electrostatic MEMs Actuators Michael Goldfarb (Vanderbilt) Piezoelectric actuators Biomimetic Control Architectures David Barrett (IS Robotics): Evolved Control Architectures Simon Giszter (MCPH)Biomechanical primitives and hierarchy Joseph Ayers (NU): A Conservative Biomimietic Control Architecture Vehicles Undulatory and Swimming Robots Gavin Miller (SnakeRobots.com) Snake Robots Cricket Wilbur (NU), Scott Currie (UCR), Bill Vorus (UNO): Anguillform Propulsion Jamie Anderson (Draper Labs): Robotic Tuna Motomu Nakashima (Tokyo Institute of Technology) Robotic Dolphin Naomi Kato (Tokai University) Pectoral fin controllers Ambulatory Robots Dan Koditschek(U. Mich.), Bob Full (UC Berkeley): Computational Neuromechanics Holk Cruse (Bielefeld): Insect Based Robots Roger Quinn/Roy Ritzmann (Case Western) Robotic Cockroach Frank Kirchner (GMD: Bonn): Robot Scorpion Flying Robots: Gernot Wendler (Köln): Computer Control of an Insect Flight Motor Ron Fearing (UC Berkeley)A Micromechanical Flying Insect Robert Michelson (Georgia Tech) Entomopter Autonomous Behavior Ralf Möller (U. Zurich) Visual Homing Barbara Webb (Stirling University): Cricket based phonotaxic robot Frank Grasso (MBL): Chemosensory tracking Mark Willis (U. Ariz.) Odor Guided Navigation Owen Holland (Bristol): Predatory Robots Michael Dickinson (UC Berkeley)Sensory control and aerodynamics of maneuverability and target search Srini Srinivasan (Canberra): Visual Control of Bee Navigation and Homing

Supported by

Controlled Biological Systems Program

Office of Naval Research