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Titolo:
Fly-like visuomotor responses of a robot using aVLSI motion-sensitive chips
Autore:
Liu, SC; Usseglio-Viretta, A;
Indirizzi:
Univ Zurich, ETH Zurich, Inst Neuroinformat, CH-8057 Zurich, Switzerland Univ Zurich Zurich Switzerland CH-8057 rmat, CH-8057 Zurich, Switzerland
Titolo Testata:
BIOLOGICAL CYBERNETICS
fascicolo: 6, volume: 85, anno: 2001,
pagine: 449 - 457
SICI:
0340-1200(200112)85:6<449:FVROAR>2.0.ZU;2-A
Fonte:
ISI
Lingua:
ENG
Soggetto:
DENDRITIC INTEGRATION; VISUAL ORIENTATION; INSECT VISION; SYSTEM; VELOCITY; INTERNEURONS; MOVEMENT; SENSORS; FLIES;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Life Sciences
Citazioni:
42
Recensione:
Indirizzi per estratti:
Indirizzo: Liu, SC Univ Zurich, ETH Zurich, Inst Neuroinformat, Winterthurerstr 190, CH-8057 Zurich, Switzerland Univ Zurich Winterthurerstr 190 Zurich Switzerland CH-8057 erland
Citazione:
S.C. Liu e A. Usseglio-Viretta, "Fly-like visuomotor responses of a robot using aVLSI motion-sensitive chips", BIOL CYBERN, 85(6), 2001, pp. 449-457

Abstract

We explore the use of continuous-time analog very-large-scale-integrated (aVLSI) neuromorphic visual preprocessors together with a robotic platform in generating bio-inspired behaviors. Both the aVLSI motion sensors and the robot behaviors described in this work are inspired by the motion computation in the fly visual system and two different fly behaviors. In most robotic systems. the visual information comes from serially scanned imagers. Thisrestricts the form of computation of the visual image and slows down the input rate to the controller system of the robot. hence increasing the reaction time of the robot. These aVLSI neuromorphic sensors reduce the computational load and power consumption of the robot. thus making it possible to explore continuous-time visuomotor control systems that react in real-time to the environment. The motion sensor provides two outputs: one for the preferred direction and the other for the null direction. These motion outputs are created from the aggregation of six elementary motion detectors that implement a variant of Reichardt's correlation algorithm. The four analog continuous-time outputs from the motion chips go to the control system on the robot which generates a mixture of two behaviors course stabilization and fixation - from the outputs of these sensors. Since there are only four outputs, the amount of information transmitted to the controller is reduced (ascompared to using a CCD sensor), and the reaction time of the robot is greatly decreased. In this work, the robot samples the motion sensors every 3.3 ms during the behavioral experiments.

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Documento generato il 23/01/20 alle ore 12:18:42