Abstract
This paper presents the design of a vision system for MantisBot, a robot designed to model a male Tenodera sinensis. The vision system mounted on the head of the robot consists of five oriented voltaic panels that distinguish the location of the most dominant light source in reference to the head’s location. The purpose of this vision system is to provide the neural control system of the robot with descending commands, allowing for the investigation of transitions between targeted motions. In order to mimic the vision system of the insect, the voltaic panels were positioned in a particular orientation that when combined with a designed electric circuit yields an output that can be used by the neural controller to control the robot’s motion. This paper summarizes the design of the vision system and its outputs. It also presents calibration data revealing the system’s ability to encode a light source’s elevation and azimuth angle as well as its distance.
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Getsy, A.P., Szczecinski, N.S., Quinn, R.D. (2016). MantisBot: The Implementation of a Photonic Vision System. In: Lepora, N., Mura, A., Mangan, M., Verschure, P., Desmulliez, M., Prescott, T. (eds) Biomimetic and Biohybrid Systems. Living Machines 2016. Lecture Notes in Computer Science(), vol 9793. Springer, Cham. https://doi.org/10.1007/978-3-319-42417-0_42
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DOI: https://doi.org/10.1007/978-3-319-42417-0_42
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