摘要
视距外控制对具有大范围运动能力的生物机器人意义重大。鸽子生物机器人以在体预编程的方式实现了视距外控制,但尚未形成控制闭环。本研究在鸽子生物机器人控制系统的神经刺激功能之上增设运动监测功能,对鸽子飞行状态实时解算,结合逻辑判据实现户外飞行过程中转向及盘旋的闭环调控。调控刺激位点位于鸽子中脑网状结构(FRM)的两侧,分别用于左向和右向控制;刺激信号具有生物神经细胞膜电位的波形特征并间歇激活;控制系统总重11.8 g。结果表明,该鸽子生物机器人的闭环调控成功率达到90%;辅以在体摄像装置,可方便获取飞行机动时的翼面形态;结合鸽群等级特征,能够实现个体调控对集群演化的干预。这些为发掘鸽子生物机器人在科学研究领域的应用奠定了基础。
Control at beyond-visual ranges is of great significance to animal-robots with wide range motion capability.For pigeon-robots,such control can be done by the way of onboard preprogram,but not constitute a closedloop yet.This study designed a new control system for pigeon-robots,which integrated the function of trajectory monitoring to that of brain stimulation.It achieved the closed-loop control in turning or circling by estimating pigeons’flight state instantaneously and the corresponding logical regulation.The stimulation targets located at the formation reticularis medialis mesencephali(FRM)in the left and right brain,for the purposes of left-and right-turn control,respectively.The stimulus was characterized by the waveform mimicking the nerve cell membrane potential,and was activated intermittently.The wearable control unit weighted 11.8 g totally.The results showed a 90%success rate by the closed-loop control in pigeon-robots.It was convenient to obtain the wing shape during flight maneuver,by equipping a pigeon-robot with a vivo camera.It was also feasible to regulate the evolution of pigeon flocks by the pigeon-robots at different hierarchical level.All of these lay the groundwork for the application of pigeon-robots in scientific researches.
作者
王浩
王绍康
邱兆成
张琦
许帅
WANG Hao;WANG Shaokang;QIU Zhaocheng;ZHANG Qi;XU Shuai(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,P.R.China;Biology Institute,Shandong Academy of Sciences,Jinan 250353,P.R.China)
出处
《生物医学工程学杂志》
EI
CAS
CSCD
北大核心
2022年第6期1209-1217,共9页
Journal of Biomedical Engineering
基金
国家自然科学基金(61973159)
国家重点研发计划(2020YFB1313504)。
关键词
生物机器人
鸽子
脑机接口
神经调控
户外飞行
Animal-robot
Pigeon
Brain-computer interface
Neuromodulation
Outdoor flying
