Biologically Inspired Perception-Action Systems

Abstract

Most of this book is devoted to creating and demonstrating so-called artificial perception-action systems inspired by biological sensing systems (perception) and animal behavior (action). Thus this chapter attempts to provide the biological background for understanding the approach taken in this book. It begins with a short introduction to some of the necessary principles of animal behavior. Then it concentrates on the obstacle avoidance and escape behavior of a scorpion and a cockroach, and continues with the prey capture behavior of a spider. Here, attention is given to the biological sensing systems used to trigger the described behaviors. Furthermore, different morphologies of walking animals are presented as inspiration for the design of walking machine platforms. Finally, a biologically inspired locomotion control, called a “central pattern generator” (CPG), is also discussed. This concept is later employed to generate the rhythmic leg movements of the machines.