Biomimetic and Biohybrid Systems Third International Conference, Living Machines 2014, Milan, Italy, July 30-August 1, 2014, Proceedings

• Main Authors: Duff, Armin, Lepora, Nathan F, Mura, Anna, Prescott, Tony J, Verschure, Paul F. M. J
• Format: eBook
• Language: English
• Published: Netherlands Springer Nature 2014; Springer International Publishing AG; Springer International Publishing
• Edition: 1
• Series: Lecture Notes in Computer Science
• Subjects: Artificial intelligence; Biologically-inspired computing; Biomimicry; Special computer methods

This book constitutes the proceedings of the Third International Conference on Biomimetic and Biohybrid Systems, Living Machines 2014, held in Milan, Italy, in July/August 2014. The 31 full papers and 27 extended abstracts included in this volume were carefully reviewed and selected from 62 submissi...

Table of Contents:

• Intro -- Preface -- Organization -- Table of Contents -- Full Papers -- Monolithic Design and Fabrication of a 2-DOF Bio-Inspired Leg Transmission -- 1 Introduction -- 2 Device Overview -- 3 CAD Design, Fabrication, and Materials -- 4 Kinematics -- 5 Discussion -- 6 Future Work -- 7 Conclusions -- References -- Optimization of the Anticipatory Reflexes of a Computational Model of the Cerebellum -- 1 Introduction -- 2 Methods -- 2.1 Basic Cerebellar Model -- 2.2 Cost Function -- 2.3 Zero-Order Plant Control Task -- 2.4 Simulated Robot Setup and Control Architecture -- 3 Results -- 3.1 Analytical Solution of the Zero-Order Task -- 3.2 Finding the Optimum knoi 'on-line' -- 3.3 Collision Avoidance Task -- 4 Discussion and Conclusions -- References -- Evolving Optimal Swimming in Different Fluids: A Study Inspired by batoid Fishes -- 1 Introduction -- 2 Biological Inspiration -- 3 Model -- 3.1 Morphology -- 3.2 Batoids Swimming Dynamics -- 4 Optimization Setup -- 5 Results and Discussion -- 5.1 Wide Bounds -- 5.2 Narrow Bounds -- 6 Conclusions -- References -- Bipedal Walking of an Octopus-Inspired Robot -- 1 Introduction -- 2 Robot and Model Description -- 2.1 Robotic Platform -- 2.2 Model Description -- 3 Experimental Methods -- 3.1 Robot Bipedal Trials -- 3.2 Parameter Estimation -- 3.3 Model Simulations -- 4 Results -- 5 Discussion -- 6 Conclusion -- References -- Action Selection within Short Time Windows -- 1 Introduction -- 2 Three Dual-Task Paradigms -- 3 The Model -- 4 Results -- 5 Discussion -- References -- Modelling Legged Robot Multi-Body Dynamics Using Hierarchical Virtual Prototype Design -- 1 Introduction -- 2 HAL Multy-Boldy Model -- 2.1 MBM Building -- 2.2 MBM Testing -- 3 Experimental Tests -- 4 Results -- 4.1 Experimental Tests Results -- 4.2 MBM Validation -- 5 Conclusions -- References
• Insect-Inspired Tactile Contour Sampling Using Vibration-Based Robotic Antennae -- 1 Introduction -- 2 Methods -- 2.1 Contour-Net -- 2.2 Robotic Hardware and Software -- 2.3 Contact Detection -- 2.4 Distance Estimation Procedure -- 2.5 Neural Network Training -- 3 Results -- 3.1 Distance Estimation -- 3.2 Tactile 3D Localization -- 3.3 Surface Normal Estimation -- 4 Discussion -- References -- A Predictive Model for Closed-Loop Collision Avoidance in a Fly-Robotic Interface -- 1 Introduction -- 2 Predictive Control Architecture -- 2.1 Interface -- 2.2 Predictive Feedback Control -- 3 Predictive Models -- 3.1 Robot Model -- 3.2 H1-Cell Model -- 4 Discussion -- 4.1 H1-Cell and Robot Velocity Tuning -- 4.2 The Control Law with the Predictive Model -- References -- Neuromechanical Simulation of an Inter-leg Controller for Tetrapod Coordination -- 1 Introduction -- 2 Biomechanical Model -- 2.1 Neural Model -- 3 Control Network -- 3.1 Intra-leg Network -- 3.2 Inter-leg Network -- 3.3 Model Testing -- 4 Results -- 4.1 Kinematic Results -- 4.2 Inter-leg Coordination Results -- 5 Discussion and Conclusions -- 5.1 Kinematics -- 5.2 Inter-leg Coordination -- References -- A Minimum Attention Control Law for Ball Catching -- 1 Introduction -- 2 Robustness to Quantization and Control Attention -- 3 Minimum Attention LQR Tracking -- 4 Ball Catching Experiments -- 4.1 Problem Formulation and Experiment Design -- 4.2 Preprocessing of LQR Cost Functions -- 4.3 LQR Tracking Control with Updating References -- 4.4 Ball Catching Subject to Attention Limits -- 5 Conclusions -- References -- Simulated Neural Dynamics Produces Adaptive Stepping and Stable Transitions in a Robotic Leg -- 1 Introduction -- 2 Methods -- 2.1 Neuron and Synapse Models -- 2.2 Hardware Implementation -- 3 Results -- 3.1 Obstruction Experiments -- 3.2 Transition Experiments -- 4 Discussion
• References -- Design of a Control Architecture for Habit Learning in Robots -- 1 Introduction -- 2 Materials and Methods -- 2.1 Global Architecture -- 2.2 Habitual Expert -- 2.3 Flexible Expert -- 2.4 Meta-Controller -- 3 Results -- 3.1 Experiment Description -- 3.2 Perception Module -- 3.3 Parameters Search -- 3.4 Individual Experts Performances -- 3.5 Combination of Experts -- 4 Discussion -- References -- Dynamic Model of a Jet-Propelled Soft Robot Inspired by the Octopus Mantle -- 1 Introduction -- 2 Mantle Model -- 2.1 Kinematics of Axisymmetric Shells -- 2.2 Compatibility Equations -- 2.3 Strain Measures -- 2.4 Dynamics -- 2.5 Constitutive Equations -- 3 Application to the Squid Locomotion -- 4 Conclusion -- References -- Hippocampal Based Model Reveals the Distinct Roles of Dentate Gyrus and CA3 during Robotic Spatial Navigation -- 1 Introduction -- 2 Methods -- 3 Results -- 4 Discussion -- References -- Trajectory Control Strategy for Anthropomorphic Robotic Finger -- 1 Introduction -- 2 Anthropomorphic Robotic Finger -- 3 Trajectory Control Strategy Based on the Structure of Human Muscles -- 4 Control of the Robotic Finger -- 5 Conclusion -- References -- Neuromechanical Mantis Model Replicates Animal Postures via Biological Neural Models -- 1 Introduction -- 2 Methods -- 2.1 Modeling Components -- 2.2 Joint Controller Design -- 2.3 Animal Experiments -- 2.4 Generating Model Poses -- 3 Results -- 3.1 Position Controller Validation -- 3.2 Postural Stability -- 3.3 Comparison between Model and Animal -- 4 Discussion -- 5 Conclusion -- References -- A Natural Movement Database for Management, Documentation, Visualization, Mining and Modeling of Locomotion Experiments -- 1 Introduction -- 2 Case Example: Comparative Kinematics of Insect Climbing -- 3 Data Structures in Matlab and MySQL -- 4 Visualization
• How Cockroaches Employ Wall-Following for Exploration -- 1 Introduction -- 2 Cockroach Behavior around Clear Barrier -- 2.1 Characterization of Barrier-Following as Wall-Following -- 2.2 Characterizing Edge Behavior -- 3 Generalizing RAMBLER -- 4 Discussion -- References -- Machines Learning - Towards a New Synthetic Autobiographical Memory -- 1 Introduction -- 2 Current Approaches to Synthetic Autobiographical Memory -- 3 Characteristics of Biological Autobiographical Memory -- 3.1 The Role of the Hippocampal Network in Autobiographical Memory -- 4 Capturing the Characteristics of Biological Autobiographical Memory in a Single Modelling Framework -- 4.1 Compression and Pattern Completion: The Predictive Brain Hypothesis -- 4.2 Deep Learning: Towards a Synthetic Predictive Brain -- 4.3 Pattern Separation and Unitary Coherent Perception:Hippocampus as a Unitary Coherent Particle Filter -- 5 Conclusions and Future Directions -- 5.1 Advantages of Our Approach -- 5.2 Implementation Objectives: Social Interaction with an iCub Robot -- References -- A Phase-Shifting Double-Wheg-Module for Realization of Wheg-Driven Robots* -- 1 Introduction and Motivation -- 2 State of the Art of Selected Wheg-Driven Robots -- 3 Advantages and Disadvantages of Wheg Driven Systems -- 4 Influence of Number of Spokes on Wheg Kinematics -- 5 The Phase-Shifting Double-Wheg-Module -- 5.1 Mechanics -- 5.2 Electronics and Control -- 5.3 Experiments -- 6 Future Work -- 7 Conclusion -- References -- Design Principles for Cooperative Robots with Uncertainty-Aware and Resource-Wise Adaptive Behavior -- 1 Introduction -- 2 Flexible Robotic Platform -- 2.1 Specifications of the GNBot -- 2.2 Adaptability of Sensors and Actuators -- 2.3 Communication among Robots -- 2.4 Virtualization of the Network Topology -- 3 Discussion -- References
• 4.1 Accurate and Robust Transitions -- 5 Conclusion -- References -- Blending in with the Shoal: Robotic Fish Swarms for Investigating Strategies of Group Formation in Guppies -- 1 Introduction -- 2 General System Description -- 2.1 Robot Design and Control -- 3 Computer Vision -- 3.1 Robot Tracking -- 3.2 Fish Tracking -- 4 Interactive Behaviors -- 5 Experiments -- 5.1 Results -- 6 Conclusions -- References -- Capturing Stochastic Insect Movements with Liquid State Machines* -- 1 Introduction -- 2 Methods -- 2.1 Behavioral Data -- 2.2 Neural Controller -- 2.3 Learning a Discrete Action Space -- 3 Results -- 3.1 Implementation -- 3.2 Convergence of Probability Distributions -- 3.3 Occupancy -- 4 Discussion -- References -- Acquisition of Synergistic Motor Responses through Cerebellar Learning in a Robotic Postural Task -- 1 Introduction -- 2 Methods -- 3 Results -- 4 Discussion and Conclusion -- References -- I-CLIPS Brain:A Hybrid Cognitive System for Social Robots -- 1 Introduction -- 2 System's Architecture -- 3 I-CLIPS Brain: A New Way of Thinking -- 4 Preliminary Tests and Results -- 5 Conclusions -- References -- Change of Network Dynamics in a Neuro-robotic System -- 1 Introduction -- 2 Materials and Methods -- 2.1 Neuronal Preparation and MEA Electrophysiology -- 2.2 Experimental Protocol -- 2.3 Input and Output Electrodes Selection -- 2.4 Burstiness Index -- 2.5 Coding and Decoding of Sensory Information -- 2.6 Evaluation of Robot Navigation -- 3 Results -- 4 Discussion -- References -- Enhanced Locomotion of a Spherical Robot Based on the Sea-urchin Characteristics -- 1 Introduction -- 2 Related Work -- 2.1 Bioinspiration from Sea Urchin Skills -- 2.2 Basic Models of Spherical Robots -- 2.3 Extended Models of Spherical Robots -- 3 Design Considerations -- 3.1 Composition -- 3.2 Motion -- 4 Simulation Results -- 5 Concluding Remarks
• 5 Documentation and Mining by Use of Linked Data