Bio-mimetic Control of Mobile Robots Based on a Model of Bacterial Chemotaxis

Bio-mimetic Control of Mobile Robots Based on a Model of Bacterial Chemotaxis

This paper proposes a new control method of mobile robots based on a model of bacterial chemotaxis including not only intracellular information processing but also motor control on the basis of the molecular evidence. E. coli is chosen as a target bacterium, which has a simple molecular structure an...

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Veröffentlicht in:TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 2002/09/25, Vol.68(673), pp.2687-2694
Hauptverfasser: TSUJI, Toshio, SAKANE, Akira, FUKUDA, Osamu, KANEKO, Makoto, OHTAKE, Hisao
Format: Artikel
Sprache:eng ; jpn
Schlagworte:
Artificial Life
Bacterium
Bio-Mimetic Control
Bio-Motion
Biological Engineering
Chemotaxis
Moving Robot
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container_issue 673
container_start_page 2687
container_title TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
container_volume 68
creator TSUJI, Toshio
SAKANE, Akira
FUKUDA, Osamu
KANEKO, Makoto
OHTAKE, Hisao
description This paper proposes a new control method of mobile robots based on a model of bacterial chemotaxis including not only intracellular information processing but also motor control on the basis of the molecular evidence. E. coli is chosen as a target bacterium, which has a simple molecular structure and is amenable to biochemical and genetic analysis. First, a computer model of the chmotaxis is developed to simulate its emergence. Parameters included in the model are regulated using the genetic algorithm in such a way that a fitness representing the chemotactic ability is maximized. Then, using a mobile robot incorporated this chemotactic model, experiments of trajectory generation are preformed, and it is confirmed that the mobile robot can be controlled based on the bacterial model.
doi_str_mv 10.1299/kikaic.68.2687
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source J-STAGE Free; EZB-FREE-00999 freely available EZB journals
subjects Artificial Life
Bacterium
Bio-Mimetic Control
Bio-Motion
Biological Engineering
Chemotaxis
Moving Robot
title Bio-mimetic Control of Mobile Robots Based on a Model of Bacterial Chemotaxis
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