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Erschienen in:
2014 | OriginalPaper | Buchkapitel
A Predictive Model for Closed-Loop Collision Avoidance in a Fly-Robotic Interface
verfasst von : Jiaqi V. Huang, Holger G. Krapp
Erschienen in: Biomimetic and Biohybrid Systems
Verlag: Springer International Publishing
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Here we propose a control design for a calibrated fly-brain-robotic interface. The interface uses the spiking activity of an identified visual interneuron in the fly brain, the H1-cell, to control the trajectory of a 2-wheeled robot such that it avoids collision with objects in the environment. Control signals will be based on a comparison between predicted responses – derived from the known robot dynamics and the H1-cell responses to visual motion in an isotropic distance distribution – and the actually observed spike rate measured during movements of the robot. The suggested design combines two fundamental concepts in biological sensorimotor control to extract task-specific information: active sensing and the use of efference copies (forward models). In future studies we will use the fly-robot interface to investigate multisensory integration.