J4 ›› 2013, Vol. 10 ›› Issue (1): 46-56.doi: 10.1016/S1672-6529(13)60198-5

• 论文 • 上一篇    下一篇

Chao Sun, Nenggan Zheng, Xinlu Zhang, Weidong Chen, Xiaoxiang Zheng   

  • 收稿日期:2012-08-25 修回日期:2012-08-25 出版日期:2013-01-10 发布日期:2013-01-10
  • 作者简介:Chao Sun, Nenggan Zheng, Xinlu Zhang, Weidong Chen, Xiaoxiang Zheng

Automatic Navigation for Rat-Robots with Modeling of the Human Guidance

Chao Sun, Nenggan Zheng, Xinlu Zhang, Weidong Chen, Xiaoxiang Zheng   

  1. 1. Qiushi Academy for Advanced Studies (QAAS), Zhejiang University, Hangzhou 310027, P. R. China
    2. College of Computer Science and Technology, Zhejiang University, Hangzhou 310027, P. R. China
    3. Department of Biomedical Engineering, Zhejiang University, Hangzhou 310027, P. R. China
  • Received:2012-08-25 Revised:2012-08-25 Online:2013-01-10 Published:2013-01-10
  • Contact: Weidong Chen E-mail:qaas@zju.edu.cn
  • About author:Chao Sun, Nenggan Zheng, Xinlu Zhang, Weidong Chen, Xiaoxiang Zheng

Abstract:

A bio-robot system refers to an animal equipped with Brain-Computer Interface (BCI), through which the outer stimulation is delivered directly into the animal’s brain to control its behaviors. The development of bio-robots suffers from the dependency on real-time guidance by human operators. Because of its inherent difficulties, there is no feasible method for automatic con-trolling of bio-robots yet. In this paper, we propose a new method to realize the automatic navigation for bio-robots. A General Regression Neural Network (GRNN) is adopted to analyze and model the controlling procedure of human operations. Com-paring to the traditional approaches with explicit controlling rules, our algorithm learns the controlling process and imitates the decision-making of human-beings to steer the rat-robot automatically. In real-time navigation experiments, our method suc-cessfully controls bio-robots to follow given paths automatically and precisely. This work would be significant for future ap-plications of bio-robots and provide a new way to realize hybrid intelligent systems with artificial intelligence and natural biological intelligence combined together.

Key words: bio-robot, rat-robots, brain-computer interface, automatic navigation