Robot phonotaxis in the wild: a biologically inspired approach to outdoor sound localization

摘要

Cricket phonotaxis (sound localization behavior) was implemented on an autonomous outdoor robot platform inspired by cockroach locomotion. This required the integration of a novel robot morphology -- Whegs -- with a biologically-based auditory processing circuit and neural control system, as well as interfacing this to a new tracking device and software architecture for running robot experiments. In repeated tests, the robot is shown to be capable of tracking towards a simulated male cricket song over natural terrain. We discuss what was learned about the auditory control circuit dealing with the outdoor sound stimulus, the need for a motor feedback mechanism to better regulate the drive signal, and plans for future work incorporating additional sensory systems on this platform.