Outline
1.Introduction
The control schemes by which a lobstersearches for and acquires prey provide excellent solutions to the problem of how an underwater robot can successfully search for and investigate underwater objects
2. Overview of the lobster walking system
Combined with comparative data from other oscillatory systems in the crustacean CNS, it is possible to construct reasonably complete control structures based entirely on known components.
2.1. Limb movements
Lobster walking movements are performed around three major limb joints. The lobster step cycle consists of three phases: an early swing phase lifts the limb tip toward the initial position of the stance, an early stance phase drops the leg to initiate the stance and during the late stance phase the limb applies propulsive force and compensates for gravity. During walking, the swing phase is always constant in duration and variation in the step period is mediated by variation in the duration of the stance phase.
2.2. Neuronal circuits
Many acts of the lobster and crayfish behavioral repertoire can be evoked in situ by stimulation of single descending command neurons
2.3. A biomimetic lobster robot
We have developed a biomimetic lobster-based robot using the following five processes.
2.4. Neural circuit-based controller
The program treats the CCCPG model components as objects which pass messages with regard to status changes. The program generates strip chart displays that are the basis of many of the figures of experimental results in this manuscript.
2.5. Coordinating systems
Coordinating systems operate by providing timing information from a governing oscillator to a governed oscillator. The governed oscillator responds by resetting it is timing to match the period of the governing oscillator
2.6. Myomorphic actuators
Nitinol wires can be activated to contract through the heat generated by the pulses of electrical current. We use pulse width duty cycle modulation to grade the proportion of martensite that transforms to austenite.
2.7. Neuromorphic sensors
We have developed several biomimetic sensors necessary to mediate reactive tactile navigation on the ocean bottom. All sensors code information with a labeled line code
2.7.1. Antennae
2.7.2. Active touch function
2.7.3. Collision detection function
2.7.4. Water motion function
2.7.5. Inclinometers
2.7.6. Bump sensors
2.7.7. Compass
2.8. Behavioral controller
All of the behavior of the robot can currently be controlled by teleoperation, pre-programmed behavioral sequences can be played and all of the sensors are functional.
2.9. Behavioral libraries
The control architecture includes a command sequencing capability that can store pre-programmed action patterns, reverse engineered from observations of the adaptations of the animal model that form the basis of a behavioral library
2.9.1. Releasers
2.9.2. Sequencer
2.10. Sensory-motor reflexes
The robot features an expanding set of exteroceptive reflexes in response to deviations from a desired heading or posture, collision and surge. Exteroceptive reflexes act on command systems and or intersegmental modulatory interneurons by inducing lateral biases
2.11. Navigation
The yaw components of navigation are mediated in biological systems by taxes and kineses.
3. Acknowledgements
We supported by the Defense Advanced Research Projects Agency and the Office of Naval Research.
4. References
Important words and the corresponding translations
1. Littoral， 沿海的
2. Lobster， 龙虾
3. Buoyancy，浮力
4. Decapods，十足类
5. Neuron，神经元
6. Pattern generator，测视图案(信号)发生器
7. Library, 【计算机科学】 库：通常与一特定应用程序有关的标准程序、例行程序或子程序的集合，可供一般使用
8. Turbulence, (液体或气体的)紊乱
9. Crab, 螃蟹, 类似螃蟹的动物
10. Impunity, 不受伤害
11. Robust, 精力充沛的
12. Locomotion, 运动, 移动, 运动力, 移动力
13. Bidirectional, 双向的
14. Terrestrial, 陆地,adj
15. Lateral, 横(向)的, 侧面的
16. Ambulatory, 走动的, 流动的, 非固定的
17. Hydrodynamic, 流体力学的
18. Crayfish, 螯虾
19. Abdomen, 腹, 腹部
20. Swimmeret, 桡肢：某些水生甲壳纲动物如虾、龙虾和等节肢动物的成对腹部附属器官，雌性的主要功能是怀卵并用于游泳
21. Thruster, 推进器
22. Perturbation, 微扰，摄动
23. Drag coefficient, 牵引系数
24. Wedge, 楔形物
25. Peripheral, 外围设备
26. Exteroceptive, 感受外界刺激的(如视觉与听觉)的
27. Proprioceptive, [生理]本体感受的
28. Level,【计算机科学】 层次，级，位数：位、元件、信道或一行信息
29. Arthropod, 节肢动物的
30. Synthetic, ，合成的, 人造的, 综合的
31. Electrophysiological, [物]电生理学的
32. Remote sensing, 遥感, 遥测, 远距离读出
33. Neuromodulatory,神经调节
34. CNS，中枢神经系统
35. Crustacean，甲壳类
36. Limb，肢，翼
37. Protraction，伸长
38. Retraction，收回
39. Elevation，提高
40. Flexion，[解](关节,肢的)弯曲, 弯曲状态
41. Carpopodite，腕节
42. Demarcation，划分
43. Initial position，初始位置
44. Propulsive force，推进力
45. Stance, 姿态
46. Torques, 转矩
47. Synergistic, 互相作用[促进]的
48. Repertoire, 指令系统
49. Descending, 递减
50. Thoracic, [解]胸的
51. Nitinol, [冶]镍钛诺(镍和钛的非磁性合金)
52. Ganglia, [解]神经中枢
53. Amplitude, 振幅, 物理学名词
54. Connectivity, 连通性
55. Anterior, ，身体前部的
56. Posterior, 尾部的
57. Chela, 前脚
58. Antennae, 〈动〉触角
59. Algorithm, [数]运算法则
60. Omnidirectional, 全方向的
61. Level, 【计算机科学】 层次，级，位数：位、元件、信道或一行信息
62. Component, 零件：机械或电器结构的组成部分
63. Oscillator, 振荡器
64. Properties, 资产 道具 表征 应用
65. Neuromorphic, 神经网络结构Neural Network Architecture
66. Biomimetic, 仿生
67. Bars, 钢筋 棒材 杆件 条信号
68. Interlimb, 肢体间
69. Antennae, antenna的复数
70. Teleoperation, 遥控 远程操作 遥控作业 远程控制
71. Pre-programmed, 预排程序的
72. Releaser, 【机】释放装置, 排气装置; 断路器, 脱扣装置
73. Sequencer, 【计算机科学】 定序器：接预先排好的次序分类卡片、数据或程序的设备