Hybrid system of mechanical parts and living organisms for microrobots

摘要

Summary form only given. Fundamental attempts to make hybrid robots, in which some artificial sensors and actuators are replaced with natural antennas and muscles, are discussed. First, it is shown that signals from an antenna are easily obtained with electrodes connected to both ends of the antenna. In our experiment, antennas of silkworm moth (Bombyx mori) are used as sensors which can detect a few molecules of pheromone. As for actuators, electrical stimulation can generate the desired smooth movement of muscles. Finally, intelligence of microrobots is considered. Currently, it is impossible to use a real nervous system for hybrid robots because a nervous system cannot be taken out from the body without damage. In addition, a nervous system cannot be connected with artificial sensors and actuators. Instead, recurrent artificial neural networks are applied. The connections of the neural networks are obtained by genetic algorithms. As a result, a mobile robot with antennas follows a stream of pheromone.