Flight control of robo-pigeon using a neural stimulation algorithm

摘要

Compared to conventional robots, animals have inherent advantages in terms of flexibility, stability, and the energy supply used for movement. Robo-pigeon has been investigated for several years because of their ideal mobility and carying capacity, but until- now, outdoor studies have not been reported. To develop a robo-pigeon flying outdoors, a miniaturized onboard preprogrammed control module has been developed, and a hierarchical stimulation algorithm proposed to ensure the effectiveness of brain stimulation. The control module consisted of a miniaturized Global Positioning System, a micro-controller, a brain stimulator, and a Secure Digital Memory Card saving a data log. It was capable of the flight control or flight trajectory manipulation of robo-pigeons in long-distance free-flight outdoors. The dimensions of the microsystem are 34 mm × 24 mm × 20 mm (L × W × H) and it weighs less than 17g. According to spatial coordinates or temporal settings, the controller can automatically emit a stimulus signal. This is one of the first outdoor demonstrations of flight control of robo-animals by neural-stimulation. The microsystem and control method described here offers distinct advantages for the control of movement and the investigation of bird flight.