NDLI: Visuo-motor Fly-like Responses of a Robot Using Avlsi Motion-sensitive Chips

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Visuo-motor Fly-like Responses of a Robot Using Avlsi Motion-sensitive Chips

Content Provider	Semantic Scholar
Author	Chips, Motion-Sensiti Ve
Copyright Year	2000
Abstract	Insects,especiallyflies, area greatprototypefor examples of sensori-motorsystemsthat work robustly under different lighting conditions,and in rich textured environments. The principlesof visuo-motorcontrol in insectscanbeexploredby usinghardwareimplementations of modelsof thevision processingin insectsto controla robot. Usingthis form of modelling,we canevaluatethe viability of biological modelsof visuo-motorcontrol in working systems.We can improve the structureof the robotic controller and the type of sensorson the robot. We canalsostudythe representationof visual information andthestructureof thecontrollernecessaryfor optimal control. In this work, we mount2 analogvery-largescale-integrated(aVLSI) motionchipson a roboticplatform (Koala). ThemotionchipsareanaVLSI hardware modelof thewide-fielddirection-selecti vecellsin thefly visualsystemthatprovide informationto themotorsystem of the fly. Eachmotion chip providestwo outputs; onefor thepreferreddirectionandtheotherfor the null direction.Thesemotionoutputsarecreatedfrom theaggregationof six elementarymotiondetectorsthat implementa variantof Reichardt’ s correlationalgorithm. The four outputsfrom themotionchipsaresentto thecontrol systemon therobot in orderto generatedifferentbehaviors. Sincethereare only four outputs,the amountof information transmittedto the controller is reduced(as comparedto usinga CCD sensor)andthe reactiontime of the robot is greatlydecreased.We show a controller systemthat cangeneratetwo differentbehaviors of the fly; coursestabilizationandfixation, from theoutputsof theseaVLSI motionsensors.
File Format	PDF HTM / HTML
Alternate Webpage(s)	http://www.ini.uzh.ch/~shih/papers/nc2000.pdf.gz
Alternate Webpage(s)	http://www.ini.unizh.ch/~shih/papers/nc2000.pdf.gz
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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