Bacteria-inspired underactuated mobile robot based on a biological fluctuation

Authors:
Surya G Nurzaman;Yoshio Matsumoto;Yutaka Nakamura;Kazumichi Shirai;Hiroshi Ishiguro
Affiliations:
Graduate School of Engineering Science, Osaka University, Osaka, Japan;National Institute of Advanced Science and Technology (AIST), Tsukuba, Ibaraki, Japan;Graduate School of Engineering Science, Osaka University, Osaka, Japan;Graduate School of Engineering, Osaka University, Osaka, Japan;Graduate School of Engineering Science, Osaka University, Osaka, Japan
Venue:
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Year:
2012

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Abstract

Interpretation of the living organism's ability to utilize noise from engineering point of view may be beneficial for realizing a simple, yet adaptive, robotic system. This paper presents a bacteria-inspired mobile robot, with a 1-DOF motor and a single sensor. Even with such limitations, the underactuated mobile robot is able to navigate toward a gradient-inducing goal in a two-dimensional space by properly utilizing environmental noise that directly affects its motion. The way the robot utilizes this external noise to control its navigation behavior is interpreted based on biological fluctuation: a simple perspective commonly used to describe how living beings utilize internally generated biological noises.