Parasitic Robot System for Waypoint Navigation of Turtle |
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Authors: | Dae-Gun Kim Serin Lee Cheol-Hu Kim Sungho Jo Phill-Seung Lee |
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Institution: | 1. Department of Mechanical Engineering,Korea Advanced Institute of Science and Technology(KAIST),373-1 Guseong-dong,Yuseong-gu,Daejeon 34141,Republic of Korea;2. Institute for Infocomm Research,1 Fusionopolis Way,#21-01 Connexis,Singapore;3. Department of Computer Science,Korea Advanced Institute of Science and Technology,(KAIST)373-1 Guseong-dong,Yuseong-gu,Daejeon 34141,Republic of Korea |
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Abstract: | In research on small mobile robots and biomimetic robots,locomotion ability remains a major issue despite many advances in technology.However,evolution has led to there being many real animals capable of excellent locomotion.This paper presents a "parasitic robot system" whereby locomotion abilities of an animal are applied to a robot task.We chose a turtle as our first host animal and designed a parasitic robot that can perform "operant conditioning".The parasitic robot,which is attached to the turtle,can induce object-tracking behavior of the turtle toward a Light Emitting Diode (LED) and positively reinforce the behavior through repeated stimulus-response interaction.After training sessions over five weeks,the robot could successfully control the direction of movement of the trained turtles in the waypoint navigation task.This hybrid animal-robot interaction system could provide an alternative solution to some of the limitations of conventional mobile robot systems in various fields,and could also act as a useful interaction system for the behavioral sciences. |
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