Biomimetic robot lobster performs chemo-orientation in turbulence using a pair of spatially separated sensors: Progress and challenges

被引：137

作者：

Grasso, FW ^{[1
]}

Consi, TR

Mountain, DC

Atema, J

机构：

[1] Boston Univ, Marine Program, Marine Biol Lab, Woods Hole, MA 02543 USA

[2] MIT, Dept Ocean Engn, Cambridge, MA 02139 USA

[3] Boston Univ, Dept Biomed Engn, Boston, MA 02215 USA

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2000年 / 30卷 / 1-2期

基金：

美国国家科学基金会;

关键词：

chemo-orientation; turbulence; biomimic; lobster;

D O I：

10.1016/S0921-8890(99)00068-8

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Lobsters are capable of tracking turbulent plumes to their sources faster than can be accomplished by estimating a spatial gradient from time-averaging the concentration signal. We have used RoboLobster, a biomimetic robot lobster to investigate biologically scaled chemotaxis algorithms using two point concentration sampling to track a statistically characterized turbulent plume. Our results identify the range of effectiveness of these algorithms and, with studies of lobster behavior, suggest effective strategies beyond this range. They suggest that a lobster's chemo-orientation strategy entails an unidentified means of dealing with the intermittency of the concentration signal. Extensions of these algorithms likely to improve are discussed. (C) 2000 Elsevier Science B.V. All rights reserved.

引用

页码：115 / 131

页数：17

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