Permanent URL to this publication: http://dx.doi.org/10.5167/uzh-17621
Graetzel, C F; Medici, V; Rohrseitz, N; Nelson, B J; Fry, S N (2008). The Cyborg Fly: A biorobotic platform to investigate dynamic coupling effects between a fruit fly and a robot. In: Institute of Electrical and Electronics Engineers,; et al.,. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008 (IROS 2008), 22-26 Sept., 2008, Acropolis Convention Center, Nice, France. Piscataway, NJ, US, 14-19. ISBN 978-1-424-42057-5 (Online), 978-1-4244-2058-2 (Print).
The robust and efficient flight control of insects provide a powerful model system for autonomous microrobots. Conversely, robots offer a robust experimental platform on which to test biological hypotheses. This interaction of biology and robotics is an exciting but challenging task, because the vast disparities between both can lead to inaccurate or even misleading conclusions. In this paper, we present a biorobotic platform that can arbitrarily define the dynamic couplings between a fruit fly and a robot. The platform is used to explore the stability and emergent properties of the biorobotic couple. The fruit flypsilas wing kinematics are measured in real time and used to drive an autonomous robot. In turn, the robotpsilas sensory information is transformed back into visual feedback to the fly. Using different case studies, we explore how the choice of feedback influences the success of the biorobotic device. We discuss the meaning of such feedback in view of biomimetic implementations.
|Item Type:||Book Section, refereed, original work|
|Communities & Collections:||07 Faculty of Science > Institute of Neuroinformatics|
|DDC:||570 Life sciences; biology|
|Deposited On:||07 Mar 2009 19:31|
|Last Modified:||09 Jul 2012 05:44|
|Publisher:||IEEE Service Center|
|ISBN:||978-1-424-42057-5 (Online), 978-1-4244-2058-2 (Print)|
|Additional Information:||© 2009 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.|
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