摘要
以昆虫作为载体,采用光/电等外部调控手段对其运动行为进行干预或控制,实现可静态预设或动态控制的昆虫机器混合系统,也被称作昆虫机器人.这类微型动物机器人在运动稳定性、环境适应性、隐蔽性等方面拥有天然的优势,在搜救侦查、科学研究等众多领域具有重要的应用价值.随着神经科学、微机电系统、人工智能等研究领域的快速发展,昆虫机器混合系统研究正从自由状态控制发展至自主智能调控阶段.本文回顾了昆虫机器人在受控运动模式、可控动作类型、达成控制任务等方面的研究现状,总结了昆虫机器混合系统研究框架,评述了基于不同调控原理实现的典型昆虫机器混合系统研究进展.在此基础上,分析了昆虫机器混合系统在神经调控机制、微型控制系统、刺激技术及方法、智能控制系统等研究中面临的困难、存在的问题,预测了未来的发展趋势.
Cyborg insects are a convergence of biological organisms and artificial machinery,which is often referred to as insectmachine hybrid systems.These systems utilize an insect-machine interface(IMI) to gain control of the locomotion of insects and to facilitate the manipulation of their natural movement patterns.This control is achieved through external stimulus of the insect's peripheral or central nervous system and muscle fibers.Cyborg insects offer notable advantages over their counterparts—micro or bionic mobile robots—that merely mimic the physical attributes and movement patterns of insects.These benefits encompass:(1) The elimination of the need for complex designs associated with mechanical structure,drive,and control systems.This simplifies the developmental process substantially.(2) The integration of the superior sensorimotor performance of insects,which have been honed and refined through millions of years of evolution,providing them with an inherent,natural advantage.(3) The unique design where system power is supplied exclusively to control and communication modules,facilitating efficient command issuance and data transmission.(4) A compact size and natural insect-like appearance,making them virtually undetectable to both humans and other animals,thus offering exceptional stealth capabilities.(5) The mature feeding technology reduces the cost of insect culture,and makes the development cost of insect machine mixing system into controllable.Cyborg insects amalgamate the sensory cognition and movement capabilities inherent to insects with the high precision and controllability characteristic of micro-electromechanical systems(MEMS).This unique combination addresses and compensates for the limitations of micro robots,particularly concerning motion speed,distance,and payload.The attributes of straightforward system structure,exceptional motion perception,low energy consumption,and superior stealth make cyborg insects extremely valuable in both scientific research and practical engineering applications
作者
马倩
王泓宇
洪慧
潘纲
郑能干
Qian Ma;Hongyu Wang;Hui Hong;Gang Pan;Nenggan Zheng(Qiushi Academy for Advanced Studies,Zhejiang University,Hangzhou 310027,China;College of Computer Science and Technology,Zhejiang University,Hangzhou 310027,China;State Key Lab of Brain-Machine Intelligence,Zhejiang University,Hangzhou 310058,China;Key Laboratory of Radio Frequency Circuit and System,Hangzhou Dianzi University,Hangzhou 310018,China;CCAI by MOE and Zhejiang Provincial Government(ZJU),Hangzhou 310027,China)
出处
《科学通报》
EI
CAS
CSCD
北大核心
2023年第23期3077-3094,共18页
Chinese Science Bulletin
基金
国家重点研发计划(2020YFB1313501)
国家自然科学基金(T2293723,61972347)
浙江省自然科学基金(LR19F020005)
浙江省重点研发计划(2022C01022,2022C01119,2021C03003)
中央高校基本业务费专项资金(226-2022-00051)资助。
关键词
昆虫机器人
昆虫机器混合系统
神经调控原理
刺激系统
控制策略
cyborg insects
insect-machine hybrid systems
neuromodulation mechanism
stimulation system
control strategy
