International Conference on Intelligent Robots and Systems-Volume 2 Steering control of a mobile robot using insect antennae Pittsburgh, Pennsylvania, USA August 05-August 09 ISBN: 0-8186-7108-4
A male silk moth (Bombyx mori) pursues a female by following a pheromone, called Bombycol. This action is caused by only a few molecules of pheromone which arrive at the antenna of a male silk moth. The antenna has very sharp sensitivity and specificity. In this paper, the use of a biological sensor is discussed as a new type of sensor, in other words "living sensors". The electrical activity of a silk moth antenna, called the electroantennogram (EAG) was obtained using self-made electrodes and amplifier. Two pheromone sensors were attached to a simple mobile robot to determine the direction of a pheromone trace. From this information, we were able to control the direction of the robot. The robot followed the pheromone trace just like a real male silk moth.
Index Terms:
chemioception; zoology; mobile robots; chemical sensors; mobile robot; steering control; insect antennae; Bombyx mori; male silk moth; pheromone; Bombycol; biological sensor; living sensors; electrical activity; electroantennogram; EAG
Citation:
Y. Kuwana, I. Shimoyama, H. Miura, "Steering control of a mobile robot using insect antennae," iros, vol. 2, pp.2530, International Conference on Intelligent Robots and Systems-Volume 2, 1995 Usage of this product signifies your acceptance of the Terms of Use. | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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