Robot-animal interaction: Perception and behavior of insbot

This paper describes the hardware and behavior implementation of a miniature robot in size of a match box that simulates the behavior of cockroaches in order to establish a social interaction with them. The robot is equipped with two micro-processors dedicated to hardware processing and behavior generation. The robot can discriminate cockroaches, other robots, environment boundaries and shelters. It has also three means of communication for monitoring, logging, supervision of biological experiment and detecting other robots in short range. The behavioral model of the robot is a mixture of fusion in low-level and arbitration in high-level. In arbitration level a stochastic state machine selects the proper subtask. Then in fusion level, that subtask is decomposed to a hierarchy of sub-tasks. Each sub-task generates a potential field. The resultant force is then mapped to an action.