Process and architecture of robotic system to mimic animal behavior in the natural environment

• US 20050065651A1
• Filed: 07/23/2004
• Published: 03/24/2005
• Est. Priority Date: 07/24/2003
• Status: Active Grant

• Current Assignee: Northeastern University
• Original Assignee: Northeastern University
• Inventors: Ayers, Joseph, Olcott, Christopher, Witting, Jan, Ryder, Stephane
• Granted Patent: US 7,769,487 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B25J 9/1085 positioning by means of shape-memory materials shape memory actuators F03G7/06
• CPC Class Codes: F03G 7/065 using a shape memory element
• CPC Class Codes: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour

Abstract

A robotic architecture for capturing the autonomous performance advantages the animal models enjoy in the natural environment is disclosed. A biomimesis process is employed to allow selective utilization of basic physical components and adaptation of a common control paradigm for each of different vehicle types. The biomimetic architecture involves five functional elements: a basic biomorphic plant for capturing the biomechanical advantages of the model organism; a neural circuit-based controller consisting of a finite state machine; myomorphic actuators producing linear graded force in response to trains of current pulses for mediating movements; labeled line code output by neuromorphic sensors; and a reactive behavioral sequencer executing command sequences defined within a behavioral library.

Claims

1. A method of realizing biomimetic behavior in a robot, comprising:

identifying plural physical components of a subject animal, each capable being physically displaced with respect to each other;

identifying a physical maneuver performed by at least one of the physical components of the subject animal;

for each of the at least one physical components performing the physical maneuver, identifying at regular temporal intervals any changes in physical orientation;

forming a behavioral data file comprised of the changes in physical orientation for each of the at least one physical components performing the physical maneuver over the temporal period required to perform the physical maneuver;

providing a robot having counterpart components to each of the identified plural physical components of the subject animal, each of the counterpart components being independently actuatable;

providing a controller in association with the robot, the controller including a memory for receiving the data file and being capable of actuating each of the counterpart components; and

commanding the robot to perform the identified physical maneuver through the controller controlling the actuation of the counterpart components on the basis of the behavioral data file.

2. The method of claim 1, further comprising the steps of:

identifying plural physical maneuvers each performed by at least one of the physical components;

forming a behavioral data file for each of the identified plural maneuvers;

forming conflicting state files defining how conflicting controller commands are to be resolved when commanding the robot to perform plural identified physical maneuvers prior to actuation of the counterpart components; and

commanding the robot to perform the plural identified physical maneuvers through the controller controlling the actuation of the counterpart components on the basis of the behavioral data files and the conflicting state files.

3. The method of claim 1, further comprising the steps of:

providing at least one sensor in association with the robot, the sensor providing an output in communication with the controller; and

altering the step of commanding in response to the sensor output.

4. A myomorphic actuator system, comprising:

a strand of shaped memory alloy material having two ends and a central portion, wherein a first of the two ends is disposed proximate the central portion thereby forming a loop;

a band of electrically conductive material disposed around and physically compressed against the strand and the first end;

a strand of light-weight, high-strength, low-electrical conductivity material disposed through the loop for physically interfacing the shaper memory allow to a structural component; and

an electrically conductive member disposed in electrical contact with the band.

5. The myomorphic actuator of claim 4, wherein the shaped memory allow is nitinol.

6. The myomorphic actuator of claim 4, wherein the light-weight, high-strength, low-electrical conductivity material is para-aramid fiber.

7. A method of forming a myomorphic actuator system, comprising:

providing a strand of shaped memory alloy fiber having two ends and a central portion;

bending one end of the fiber back against the central portion to form a loop;

disposing a band of electrically conductive material around the central portion and the one end;

physically deforming the band to secure the loop;

soldering an electrically conducting strand to the band; and

passing a strand of light-weight, high-strength, low-electrical conductivity material through the loop.

8. The method of claim 7, further comprising the step of oxidizing the strand to remove a fluoropolymer resin coating.

9. The method of claim 8, wherein the shaped memory allow is nitinol.

10. The method of claim 8, wherein the light-weight, high-strength, low-conductivity material is para-aramid fiber.