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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2411.13164 |
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| _version_ | 1866912127755747328 |
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| author | Lin, Qifeng Vuong, Nghia Song, Kewei Tran-Ngoc, Phuoc Thanh Nonato, Greg Angelo Gonzales Sato, Hirotaka |
| author_facet | Lin, Qifeng Vuong, Nghia Song, Kewei Tran-Ngoc, Phuoc Thanh Nonato, Greg Angelo Gonzales Sato, Hirotaka |
| contents | The advancement of insect-computer hybrid robots holds significant promise for navigating complex terrains and enhancing robotics applications. This study introduced an automatic assembly method for insect-computer hybrid robots, which was accomplished by mounting backpack with precise implantation of custom-designed bipolar electrodes. We developed a stimulation protocol for the intersegmental membrane between pronotum and mesothorax of the Madagascar hissing cockroach, allowing for bipolar electrodes' automatic implantation using a robotic arm. The assembly process was integrated with a deep learning-based vision system to accurately identify the implantation site, and a dedicated structure to fix the insect (68 s for the whole assembly process). The automatically assembled hybrid robots demonstrated steering control (over 70 degrees for 0.4 s stimulation) and deceleration control (68.2% speed reduction for 0.4 s stimulation), matching the performance of manually assembled systems. Furthermore, a multi-agent system consisting of 4 hybrid robots successfully covered obstructed outdoor terrain (80.25% for 10 minutes 31 seconds), highlighting the feasibility of mass-producing these systems for practical applications. The proposed automatic assembly strategy reduced preparation time for the insect-computer hybrid robots while maintaining their precise control, laying a foundation for scalable production and deployment in real-world applications. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_13164 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Cyborg Insect Factory: Automatic Assembly System to Build up Insect-computer Hybrid Robot Based on Vision-guided Robotic Arm Manipulation of Custom Bipolar Electrodes Lin, Qifeng Vuong, Nghia Song, Kewei Tran-Ngoc, Phuoc Thanh Nonato, Greg Angelo Gonzales Sato, Hirotaka Robotics The advancement of insect-computer hybrid robots holds significant promise for navigating complex terrains and enhancing robotics applications. This study introduced an automatic assembly method for insect-computer hybrid robots, which was accomplished by mounting backpack with precise implantation of custom-designed bipolar electrodes. We developed a stimulation protocol for the intersegmental membrane between pronotum and mesothorax of the Madagascar hissing cockroach, allowing for bipolar electrodes' automatic implantation using a robotic arm. The assembly process was integrated with a deep learning-based vision system to accurately identify the implantation site, and a dedicated structure to fix the insect (68 s for the whole assembly process). The automatically assembled hybrid robots demonstrated steering control (over 70 degrees for 0.4 s stimulation) and deceleration control (68.2% speed reduction for 0.4 s stimulation), matching the performance of manually assembled systems. Furthermore, a multi-agent system consisting of 4 hybrid robots successfully covered obstructed outdoor terrain (80.25% for 10 minutes 31 seconds), highlighting the feasibility of mass-producing these systems for practical applications. The proposed automatic assembly strategy reduced preparation time for the insect-computer hybrid robots while maintaining their precise control, laying a foundation for scalable production and deployment in real-world applications. |
| title | Cyborg Insect Factory: Automatic Assembly System to Build up Insect-computer Hybrid Robot Based on Vision-guided Robotic Arm Manipulation of Custom Bipolar Electrodes |
| topic | Robotics |
| url | https://arxiv.org/abs/2411.13164 |