Biorobotics, Embodiment, & Cognition

Biorobotics, Embodiment, & (Spatial) Cognition

Lorenz Hillen [email protected]

Seminar “Embodied Cognition” AG Technische Informatik Universität Bielefeld

2011-05-11 Biorobotics, Embodiment, & Cognition Introduction, definition, & motivation Outline

1 Introduction, definition, & motivation History of biorobotics Definition Discussion Biorobotics, Embodiment, & Cognition Introduction, definition, & motivation — History of biorobotics History — long time ago Cordeschi 2002

Leonardo da Vinci (∼ 1490): Jaques de Vaucanson (1738):

[I1]

[I3] Biorobotics, Embodiment, & Cognition Introduction, definition, & motivation — History of biorobotics History — long time ago Cordeschi 2002

Leonardo da Vinci (∼ 1490): Jaques de Vaucanson (1738):

[I3] [I2] Biorobotics, Embodiment, & Cognition Introduction, definition, & motivation — History of biorobotics History — Tortoises Walter 1963

William Gray Walter (1950s): • Turtle robots with motors, light sensors & bumper • Electronic circuits to mimic neural circuits • Exploration, phototaxis, obstacle avoidance ⇒ First biorobots

[I4] Biorobotics, Embodiment, & Cognition Introduction, definition, & motivation — History of biorobotics History — Braitenberg vehicles Braitenberg 1984

Valentino Braitenberg (1984): • Vehicles • Simplest and minimalistic forms of behavior • Thought/robot experiments • Direct connection from sensor to actuator ⇒ Complex behavior as result of simple mechanisms Biorobotics, Embodiment, & Cognition Introduction, definition, & motivation — History of biorobotics History — Braitenberg vehicles Braitenberg 1984

Valentino Braitenberg (1984): • Vehicles • Simplest and minimalistic forms of behavior • Thought/robot experiments • Direct connection from sensor to actuator ⇒ Complex behavior as result of simple mechanisms Biorobotics, Embodiment, & Cognition Introduction, definition, & motivation — History of biorobotics History — behavior-based robotics Arkin 1998; Brooks 1990, 1991; Matarić et al. 2008

Emergency stop Avoid obstacles Recharge Rodney Brooks (1980s): Act Sense Explore • Behavior-based approach ... instead of symbolic AI • Reactive models instead of sense-plan-act • Weak AI ⇒ Focus on behavior not on representation and symbol processing

[I5] Biorobotics, Embodiment, & Cognition Introduction, definition, & motivation — History of biorobotics History — embodiment Brooks 1999; Pfeifer and Josh 2006; Pfeifer and Schreier 1999

Sensors Rolf Pfeifer (1990s): • Among others (Brooks, Environment Agent Moravec, ...) • Cognition/behavior Actuators determined by the body and interactions with the environment • Connection to the world through body

⇒ Role of interaction [I6] Biorobotics, Embodiment, & Cognition Introduction, definition, & motivation — History of biorobotics Lessons from history

Simple mechanism ⇒ complex behavior Animals can solve tasks robots cannot solve Behavior is essential Sense-react models Behavior-based approaches Biorobotics Weak/new AI Biological inspiration

Agent-environment Evolution has interaction (grounding) optimized animals Biorobotics, Embodiment, & Cognition Introduction, definition, & motivation — Definition Definition Meyer et al. 2008; Webb and Consi 2001, ...

Definition: Interdisciplinary sub-field at the intersection between robotics, engineering, biology, cybernetics, neuroethology, cognitive science, computer science, ...

Biology Engineering

• Test models of animal • New approaches and insights behavior • Simple, minimalistic, robust • Real-world testing conditions solutions Biorobotics, Embodiment, & Cognition Introduction, definition, & motivation — Discussion Similarities Möller 2002; Webb 2000, 2001

Action perception loop: • Robots & animals interact with the environment. • Interaction is essential

Sensors

Environment Agent

Actuators

“The world is its best model” (R. Brooks) Biorobotics, Embodiment, & Cognition Introduction, definition, & motivation — Discussion Dissimilarities Möller 2002; Webb 2000, 2001

? ⇔

[I7] • Actuators • Sensors • Seize and weight • Energy supply • ... Biorobotics, Embodiment, & Cognition Introduction, definition, & motivation — Discussion Workflow Möller 2002; Webb 2000, 2001

Animal Animal behavior Behavioral experiment

Results Modelling Biology Implementation Robotics Robot experiments Application Biorobotics, Embodiment, & Cognition Examples of biorobotics research Outline

2 Examples of biorobotics research Introduction Algorithmic models System-theoretic models ANN models Physiological models Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Introduction Level of modelling Möller 2002

• Algorithmic models

Engineering Algorithmic models: • No architectural • System theoretic models constraints • Easy to implement • Artificial neural networks • Far from neural implementation • Large models • Physiological models Biology Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Introduction Level of modelling Möller 2002

• Algorithmic models

Engineering System theo. models: • Control and system • System theoretic models theory • Biological cybernetics • Artificial neural networks • Stronger architectural constraints but far from physiology • Physiological models Biology Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Introduction Level of modelling Möller 2002

• Algorithmic models ANN models: Engineering • Constrained by ANN • System theoretic models methods • Designed networks • No physiological • Artificial neural networks knowledge • Neglect certain aspects of real neurons • Physiological models Biology Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Introduction Level of modelling Möller 2002

• Algorithmic models Physiological models:

Engineering • Realistic and detailed models of neurons • System theoretic models • Neuroanatomical knowledge • Artificial neural networks • Several physiological aspects • Small systems / • Physiological models sub-systems Biology Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Introduction Questions

Example

Behavioral aspect Robotic realization

What's described? What's described?

Influence on Robotics? Benefits from Biology?

Benefits from Robotics? Influence on Biology?

Role of environment? Role of embodiment? Contributions to (spatial) cognition? Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: Biology Cartwright and Collett 1983, 1987; Dittmar et al. 2010

Setup:

[I8] Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: Biology Cartwright and Collett 1983, 1987; Dittmar et al. 2010

Setup:

[I8] Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: Biology Cartwright and Collett 1983, 1987; Dittmar et al. 2010

Setup:

[I8] Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: Biology Cartwright and Collett 1983, 1987; Dittmar et al. 2010

Setup:

[I8] Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: Biology Cartwright and Collett 1983, 1987; Dittmar et al. 2010

Setup:

[I8] Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: Biology Cartwright and Collett 1983, 1987; Dittmar et al. 2010

Tests: Setup:

[I8] Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: Biology Cartwright and Collett 1983, 1987; Dittmar et al. 2010

Tests: Setup:

[I8] Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: Biology Cartwright and Collett 1983, 1987; Dittmar et al. 2010

Tests: Setup:

[I8] Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: Biology Cartwright and Collett 1983, 1987; Dittmar et al. 2010

Tests: Setup:

[I8] Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: Data evaluation Cartwright and Collett 1983

Data analysis: • Record bee’s trajectory • Pool over several trials • Compute search densities

Bees search, where arrangement of landmarks matches best Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: Modelling Cartwright and Collett 1983, 1987; Wehner et al. 1979

Local visual homing: Move in order to bring snapshots into accordance

Home Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: Modelling Cartwright and Collett 1983, 1987; Wehner et al. 1979

Local visual homing: Move in order to bring snapshots into accordance

Home Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: Modelling Cartwright and Collett 1983, 1987; Wehner et al. 1979

Local visual homing: Move in order to bring snapshots into accordance

Home Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: Modelling Cartwright and Collett 1983, 1987; Wehner et al. 1979

Local visual homing: Move in order to bring snapshots into accordance

Home Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: Modelling Cartwright and Collett 1983, 1987; Wehner et al. 1979

Local visual homing: Move in order to bring snapshots into accordance

Home Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: Modelling Cartwright and Collett 1983, 1987; Wehner et al. 1979

Local visual homing: Move in order to bring snapshots into accordance

Home Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: Robot experiments Lambrinos et al. 2000; Möller, Lambrinos, et al. 2001

Sahabot-2: Setup: Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: Robot experiments Lambrinos et al. 2000; Möller, Lambrinos, et al. 2001

Sahabot-2: Image processing:

Camera

Adjustment of brightness

Polar mapping

Thresholding

Extraction of horizonal area

Extraction of horizon Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: Robot experiments Lambrinos et al. 2000 Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: 10 years later Gerstmayr et al. 2009; Möller, Krzykawski, et al. 2010

Real-robot experiments: • Better computers 1.8 • Better algorithms 1.5 1.2 • Application to [m] 0.9 navigation of cleaning 0.6 robots 0.3 0.0

0.0 1.0 2.0 3.0 4.0 0.0 1.0 2.0 3.0 Database experiments: [m] • Parameter optimization • Time saving • Data evaluation Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: 10 years later Gerstmayr et al. 2009; Möller, Krzykawski, et al. 2010

Real-robot experiments: • Better computers 1.8 • Better algorithms 1.5 1.2 • Application to [m] 0.9 navigation of cleaning 0.6 robots 0.3 0.0

0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0 Database experiments: [m] • Parameter optimization • Time saving • Data evaluation Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: 10 years later Gerstmayr et al. 2009; Möller, Krzykawski, et al. 2010

Real-robot experiments: • Better computers • Better algorithms • Application to navigation of cleaning robots

Database experiments: • Parameter optimization • Time saving • Data evaluation Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Algorithmic models Local visual homing: 10 years later Gerstmayr et al. 2009; Möller, Krzykawski, et al. 2010

Real-robot experiments: • Better computers • Better algorithms • Application to navigation of cleaning robots

Database experiments: • Parameter optimization • Time saving • Data evaluation [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9]

Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: EMDs Egelhaaf 2009; Hassenstein et al. 1956

Elementary motion detectors (EMDs): • “Circuits” for motion detection in insect brain • Preferred direction and speed

[I9] [I9] Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: Centering behavior Baird et al. 2006; Conroy et al. 2009; Serres et al. 2008 Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: Quadrocopter Conroy et al. 2009

Robot: Controller: Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: Quadrocopter Conroy et al. 2009

Robot: Setup: Biorobotics, Embodiment, & Cognition Examples of biorobotics research — System-theoretic models Vision-based flight control: Results Conroy et al. 2009 Biorobotics, Embodiment, & Cognition Examples of biorobotics research — ANN models Simulation study: Spatial representation Cruse et al. 2011; Menzel et al. 2011; Tolman 1948

How is sensory information, motivation, and knowledge combined to accomplish a particular task?

Cognitive map: Decentralized memory: • Global spatial representation • Reactive/distributed system (w. metrical information) (more sensor-based) • Sensory data integrated into • Each sub-system maintains common representation its own representation • High flexibility • Inflexible • Large computational efforts • Small complexity Biorobotics, Embodiment, & Cognition Examples of biorobotics research — ANN models Simulation study: Biological experiment Menzel et al. 2011

FR

Hive Biorobotics, Embodiment, & Cognition Examples of biorobotics research — ANN models Simulation study: Biological experiment Menzel et al. 2011

FD

Hive Biorobotics, Embodiment, & Cognition Examples of biorobotics research — ANN models Simulation study: Biological experiment Menzel et al. 2011

FD FR

Hive Biorobotics, Embodiment, & Cognition Examples of biorobotics research — ANN models Simulation study: Biological experiment Menzel et al. 2011

FD FR

Hive

Waggle dance Biorobotics, Embodiment, & Cognition Examples of biorobotics research — ANN models Simulation study: Biological experiment Menzel et al. 2011

FD FR Cross flights

Hive Biorobotics, Embodiment, & Cognition Examples of biorobotics research — ANN models Simulation study: Biological experiment Menzel et al. 2011

FD FR Cross flights

Hive Biorobotics, Embodiment, & Cognition Examples of biorobotics research — ANN models Simulation study: Biological experiment Menzel et al. 2011

FD FR Cross flights

Hive

Behavior requires a common frame of reference Bees rely on a cognitive map Biorobotics, Embodiment, & Cognition Examples of biorobotics research — ANN models Simulation study: Artificial neural network Cruse et al. 2011

Neural network model of decentralized memory • Motivation states • Memory elements • Sensory input distance & direction to LMs • Path integration ⇒ Movement direction Biorobotics, Embodiment, & Cognition Examples of biorobotics research — ANN models Simulation study: Results I Cruse et al. 2011

1 Foraging trip to food A PI 2 Hitting outbound LM triggers LM guidance 3 Reaching food A 4 Inbound trip PI 5 Reaching home Biorobotics, Embodiment, & Cognition Examples of biorobotics research — ANN models Simulation study: Results II Cruse et al. 2011

1 Known food sites food A/B 2 Outbound trip to food A PI, LM guidance 3 Reaching food A, empty 4 Short cut trip to food B PI 5 Reaching food B, reward 6 Inbound trip PI, LM guidance 7 Reaching home Biorobotics, Embodiment, & Cognition Examples of biorobotics research — ANN models Simulation study: Results II Cruse et al. 2011

1 Known food sites food A/B 2 Outbound trip to food A PI, LM guidance 3 Reaching food A, empty 4 Short cut trip to food B PI 5 Reaching food B, reward 6 Inbound trip PI, LM guidance 7 Reaching home

Finding short cuts does not require cognitive map Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Physiological models Cricket phonotaxis: Animal vs. robot Reeve et al. 2005

Cricket: Robot cricket:

[I10] Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Physiological models Cricket phonotaxis: Auditory circuit Reeve et al. 2005

ON Auditory interneurons ⇒ lateral inhibition AN Ascending neurons BNx Brain neurons ⇒ filtering signal gaps ⇒ filtering signal onset BN2 Input for motor network Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Physiological models Cricket phonotaxis: Motor circuit Reeve et al. 2005

BG Burst generator ⇒ “metronome” STOP,GO Motivation LT,RT Signal difference ⇒ turning LF,RF Forward motor neurons Rightarrow motor speed Biorobotics, Embodiment, & Cognition Examples of biorobotics research — Physiological models Cricket phonotaxis: Results Reeve et al. 2005 Biorobotics, Embodiment, & Cognition Summary & Conclusions Outline

3 Summary & Conclusions Biorobotics, Embodiment, & Cognition Summary & Conclusions Summary

Biology Animal Animal behavior Behavioral experiment

Results Environment Modelling

Implementation Robot experiments Embodiment Application Robotics Biorobotics, Embodiment, & Cognition Summary & Conclusions Link to (spatial) cognition Mallot et al. 2009 Biorobotics, Embodiment, & Cognition Summary & Conclusions The end

Ralf Möller Das Ameisenpatent Bioroboter und ihre tierischen Vorbilder Spektrum Akademischer Verlag 2008, Taschenbuchausgabe (13EUR) Biorobotics, Embodiment, & Cognition References Outline

4 References Biorobotics, Embodiment, & Cognition References LiteratureI

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I1 http://upload.wikimedia.org/wikipedia/commons/c/ c5/Leonardo_Design_for_a_Flying_Machine%2C_c. _1488.jpg I2 http://upload.wikimedia.org/wikipedia/commons/4/ 45/Leonardo-Robot3.jpg I3 http://botropolis.com/wp-content/uploads/ shittingduck.jpg I4 http://www.extremenxt.com/walter.htm I5 http: //bangkokchess.com/images/Ian_Rogers_Elephant.jpg I6 http://andi.priv.at/wp-content/uploads/2009/06/ futurama_bender_s_big_score_image__1_.jpg Biorobotics, Embodiment, & Cognition References ImagesII

I7 A. Trepte, http://commons.wikimedia.org/wiki/File: Apis_mellifera_Western_honey_bee.jpg I8 L. Dittmar, AG Neurobiologie, Universität Bielefeld I9 B. Babies, AG Technische Informatik, Universität Bielefeld I10 R. Zanon, http://upload.wikimedia.org/wikipedia/ commons/7/70/Gryllus_campestris_1.jpg Other images taken from cited papers.