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Papaspyros V, Theraulaz G, Sire C, Mondada F. Quantifying the biomimicry gap in biohybrid robot-fish pairs. BIOINSPIRATION & BIOMIMETICS 2024; 19:046020. [PMID: 38866031 DOI: 10.1088/1748-3190/ad577a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/17/2024] [Accepted: 06/12/2024] [Indexed: 06/14/2024]
Abstract
Biohybrid systems in which robotic lures interact with animals have become compelling tools for probing and identifying the mechanisms underlying collective animal behavior. One key challenge lies in the transfer of social interaction models from simulations to reality, using robotics to validate the modeling hypotheses. This challenge arises in bridging what we term the 'biomimicry gap', which is caused by imperfect robotic replicas, communication cues and physics constraints not incorporated in the simulations, that may elicit unrealistic behavioral responses in animals. In this work, we used a biomimetic lure of a rummy-nose tetra fish (Hemigrammus rhodostomus) and a neural network (NN) model for generating biomimetic social interactions. Through experiments with a biohybrid pair comprising a fish and the robotic lure, a pair of real fish, and simulations of pairs of fish, we demonstrate that our biohybrid system generates social interactions mirroring those of genuine fish pairs. Our analyses highlight that: 1) the lure and NN maintain minimal deviation in real-world interactions compared to simulations and fish-only experiments, 2) our NN controls the robot efficiently in real-time, and 3) a comprehensive validation is crucial to bridge the biomimicry gap, ensuring realistic biohybrid systems.
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Affiliation(s)
- Vaios Papaspyros
- Mobile Robotic Systems (MOBOTS) group, School of Computer Science, École Polytechnique Fédérale de Lausanne (EPFL), CH-1015 Lausanne, Switzerland
| | - Guy Theraulaz
- Centre de Recherches sur la Cognition Animale, Centre de Biologie Intégrative, CNRS, Université de Toulouse III-Paul Sabatier, 31062 Toulouse, France
| | - Clément Sire
- Laboratoire de Physique Théorique, CNRS, Université de Toulouse III-Paul Sabatier, 31062 Toulouse, France
| | - Francesco Mondada
- Mobile Robotic Systems (MOBOTS) group, School of Computer Science, École Polytechnique Fédérale de Lausanne (EPFL), CH-1015 Lausanne, Switzerland
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2
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Siddall R. Ethorobotic rats for rodent behavioral research: design considerations. Front Behav Neurosci 2023; 17:1281494. [PMID: 38187923 PMCID: PMC10771285 DOI: 10.3389/fnbeh.2023.1281494] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/22/2023] [Accepted: 11/28/2023] [Indexed: 01/09/2024] Open
Abstract
The development of robots as tools for biological research, sometimes termed "biorobotics", has grown rapidly in recent years, fueled by the proliferation of miniaturized computation and advanced manufacturing techniques. Much of this work is focused on the use of robots as biomechanical models for natural systems. But, increasingly, biomimetic robots are being employed to interact directly with animals, as component parts of ethology studies in the field and behavioral neuroscience studies in the laboratory. While it has been possible to mechanize and automate animal behavior experiments for decades, only recently has there been the prospect of creating at-scale robotic animals containing the sensing, autonomy and actuation necessary for complex, life-like interaction. This not only opens up new avenues of enquiry, but also provides important ways to improve animal welfare, both by reducing or replacing the use of animal subjects, and by minimizing animal distress (if robots are used judiciously). This article will discuss the current state of the art in robotic lab rats, providing perspective on where research could be directed to enable the safe and effective use of biorobotic animals.
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Affiliation(s)
- Robert Siddall
- School of Mechanical Engineering Sciences, University of Surrey, Guildford, United Kingdom
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3
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Zhou Z, Liu J, Pan J, Yu J. Proactivity of fish and leadership of self-propelled robotic fish during interaction. BIOINSPIRATION & BIOMIMETICS 2023; 18. [PMID: 37075759 DOI: 10.1088/1748-3190/acce87] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/07/2022] [Accepted: 04/19/2023] [Indexed: 05/03/2023]
Abstract
Fish interacting with biomimetic robotic fish is beneficial for animal behavior research, particularly in the study of collective behavior. Compared with passive-dragging robotic fish, self-propelled robotic fish floats in water, and its movement matches the flow field formed by the caudal fin oscillation, leading to more realistic interaction with animals. In this paper, we propose a self-propelled koi-mimicking robotic fish entity, develop a system for robotic fish and koi fish interaction, and conduct extensive experiments on quantity variation and parameter variation. The results showed that fish exhibited significantly lower proactivity when alone, and the most proactive case is one robotic fish interacting with two real fish. The experiments on parameter variation indicated that fish may respond more proactivity to robotic fish that swim with high frequency and low amplitude, but may also move together with high-frequency and high-amplitude swimming robotic fish. These findings could provide insights into fish collective behavior, guide the design of further fish-robot interaction experiments, and suggest directions for future improvements in goal-oriented robotic fish platforms.
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Affiliation(s)
- Ziye Zhou
- State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, People's Republic of China
| | - Jincun Liu
- College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, People's Republic of China
| | - Jie Pan
- State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, People's Republic of China
| | - Junzhi Yu
- State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, People's Republic of China
- State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, People's Republic of China
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4
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A Bioinspired Cownose Ray Robot for Seabed Exploration. Biomimetics (Basel) 2023; 8:biomimetics8010030. [PMID: 36648816 PMCID: PMC9844324 DOI: 10.3390/biomimetics8010030] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/30/2022] [Revised: 01/06/2023] [Accepted: 01/09/2023] [Indexed: 01/15/2023] Open
Abstract
This article presents the design and the experimental tests of a bioinspired robot mimicking the cownose ray. These fish swim by moving their large and flat pectoral fins, creating a wave that pushes backward the surrounding water so that the fish is propelled forward due to momentum conservation. The robot inspired by these animals has a rigid central body, housing motors, batteries, and electronics, and flexible pectoral fins made of silicone rubber. Each of them is actuated by a servomotor driving a link inside the leading edge, and the traveling wave is reproduced thanks to the flexibility of the fin itself. In addition to the pectoral fins, two small rigid caudal fins are present to improve the robot's maneuverability. The robot has been designed, built, and tested underwater, and the experiments have shown that the locomotion principle is valid and that the robot is able to swim forward, perform left and right turns, and do floating or diving maneuvers.
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5
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Li L, Ravi S, Wang C. Editorial: Robotics to Understand Animal Behaviour. Front Robot AI 2022; 9:963416. [PMID: 35899078 PMCID: PMC9310327 DOI: 10.3389/frobt.2022.963416] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Download PDF] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/07/2022] [Accepted: 06/24/2022] [Indexed: 11/13/2022] Open
Affiliation(s)
- Liang Li
- Department of Collective Behaviour, Max Planck Institute of Animal Behavior, Konstanz, Germany
- Centre for the Advanced Study of Collective Behaviour, University of Konstanz, Konstanz, Germany
- Department of Biology, University of Konstanz, Konstanz, Germany
- *Correspondence: Liang Li,
| | - Sridhar Ravi
- School of Engineering and Information Technology, University of New South Wales, Canberra, NSW, Australia
| | - Chen Wang
- The National Engineering Research Center of Software Engineering, Peking University, Beijing, China
- The State Key Laboratory of Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China
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6
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Evolutionary Dynamics of Division of Labor Games for Underwater Searching Tasks. Symmetry (Basel) 2022. [DOI: 10.3390/sym14050941] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/10/2022] Open
Abstract
Division of labor in self-organized groups is a problem of both theoretical significance and application value. Many application problems in the real world require efficient task allocation. We propose a model combining bio-inspiration and evolutionary game theory. This research model theoretically analyzes the problem of target search in unknown areas for multi-robot systems. If the robot’s operating area is underwater, the problem becomes more complicated due to its information sharing restrictions. Additionally, it drives strategy updates and calculates the fixed probability of relevant strategies, using evolutionary game theory and the commonly used Fermi function. Our study estimates the fixed probability under arbitrary selection intensity and the fixed probability and time under weak selection for the two-player game model. In the multi-player game, we get these results for weak selection, which is conducive to the coexistence of the two strategies. Moreover, the conducted simulations confirm our analysis. These results help to understand and design effective mechanisms in which self-organizing collective dynamics appears in the form of maximizing the benefits of multi-agent systems in the case of the asymmetric game.
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7
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Stefanec M, Hofstadler DN, Krajník T, Turgut AE, Alemdar H, Lennox B, Şahin E, Arvin F, Schmickl T. A Minimally Invasive Approach Towards “Ecosystem Hacking” With Honeybees. Front Robot AI 2022; 9:791921. [PMID: 35572369 PMCID: PMC9096355 DOI: 10.3389/frobt.2022.791921] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/09/2021] [Accepted: 03/02/2022] [Indexed: 11/13/2022] Open
Abstract
Honey bees live in colonies of thousands of individuals, that not only need to collaborate with each other but also to interact intensively with their ecosystem. A small group of robots operating in a honey bee colony and interacting with the queen bee, a central colony element, has the potential to change the collective behavior of the entire colony and thus also improve its interaction with the surrounding ecosystem. Such a system can be used to study and understand many elements of bee behavior within hives that have not been adequately researched. We discuss here the applicability of this technology for ecosystem protection: A novel paradigm of a minimally invasive form of conservation through “Ecosystem Hacking”. We discuss the necessary requirements for such technology and show experimental data on the dynamics of the natural queen’s court, initial designs of biomimetic robotic surrogates of court bees, and a multi-agent model of the queen bee court system. Our model is intended to serve as an AI-enhanceable coordination software for future robotic court bee surrogates and as a hardware controller for generating nature-like behavior patterns for such a robotic ensemble. It is the first step towards a team of robots working in a bio-compatible way to study honey bees and to increase their pollination performance, thus achieving a stabilizing effect at the ecosystem level.
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Affiliation(s)
- Martin Stefanec
- Artificial Life Lab, Institute of Biology, University of Graz, Graz, Austria
- *Correspondence: Martin Stefanec,
| | | | - Tomáš Krajník
- Artificial Intelligence Centre, Faculty of Electrical Engineering, Czech Technical University, Prague, Czechia
| | - Ali Emre Turgut
- Department of Mechanical Engineering, Middle East Technical University, Ankara, Türkiye
- ROMER-Center for Robotics and Artificial Intelligence, Middle East Technical University, Ankara, Türkiye
| | - Hande Alemdar
- ROMER-Center for Robotics and Artificial Intelligence, Middle East Technical University, Ankara, Türkiye
- Department of Computer Engineering, Middle East Technical University, Ankara, Türkiye
| | - Barry Lennox
- Department of Computer Engineering, Middle East Technical University, Ankara, Türkiye
| | - Erol Şahin
- ROMER-Center for Robotics and Artificial Intelligence, Middle East Technical University, Ankara, Türkiye
- Department of Computer Engineering, Middle East Technical University, Ankara, Türkiye
| | - Farshad Arvin
- Department of Computer Engineering, Middle East Technical University, Ankara, Türkiye
| | - Thomas Schmickl
- Artificial Life Lab, Institute of Biology, University of Graz, Graz, Austria
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8
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Phillips N, Draper TC, Mayne R, Reynolds DM, Adamatzky A. Marimo actuated rover systems. J Biol Eng 2022; 16:3. [PMID: 34986856 PMCID: PMC8734212 DOI: 10.1186/s13036-021-00279-0] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/04/2021] [Accepted: 11/09/2021] [Indexed: 11/24/2022] Open
Abstract
Background The potential to directly harness photosynthesis to make actuators, biosensors and bioprocessors has been previously demonstrated in the literature. Herein, this capability has been expanded to more advanced systems — Marimo Actuated Rover Systems (MARS) — which are capable of autonomous, solar powered, movement. Results We demonstrate this ability is both a practical and viable alternative to conventional mobile platforms for exploration and dynamic environmental monitoring. Prototypes have been successfully tested to measure their speed of travel and ability to automatically bypass obstacles. Further, MARS is electromagnetically silent, thus avoiding the background noise generated by conventional electro/mechanical platforms which reduces instrument sensitivity. The cost of MARS is significantly lower than platforms based on conventional technology. Conclusions An autonomous, low-cost, lightweight, compact size, photosynthetically powered rover is reported. The potential for further system enhancements are identified and under development. Supplementary Information The online version contains supplementary material available at (10.1186/s13036-021-00279-0).
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Affiliation(s)
- Neil Phillips
- Unconventional Computing Laboratory, Faculty of the Environment and Technology, University of the West of England, Coldharbour Lane, Bristol, BS16 1QY, UK.
| | - Thomas C Draper
- Unconventional Computing Laboratory, Faculty of the Environment and Technology, University of the West of England, Coldharbour Lane, Bristol, BS16 1QY, UK
| | - Richard Mayne
- Unconventional Computing Laboratory, Faculty of the Environment and Technology, University of the West of England, Coldharbour Lane, Bristol, BS16 1QY, UK
| | - Darren M Reynolds
- Centre for Research in Biosciences, Faculty of Health and Applied Sciences, University of the West of England, Coldharbour Lane, Bristol, BS16 1QY, UK
| | - Andrew Adamatzky
- Unconventional Computing Laboratory, Faculty of the Environment and Technology, University of the West of England, Coldharbour Lane, Bristol, BS16 1QY, UK
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9
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Romano D, Stefanini C. Unveiling social distancing mechanisms via a fish-robot hybrid interaction. BIOLOGICAL CYBERNETICS 2021; 115:565-573. [PMID: 33730211 PMCID: PMC8960612 DOI: 10.1007/s00422-021-00867-9] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 11/19/2020] [Accepted: 02/20/2021] [Indexed: 06/12/2023]
Abstract
Pathogen transmission is a major limit of social species. Social distancing, a behavioural-based response to diseases, has been regularly reported in nature. However, the identification of distinctive stimuli associated with an infectious disease represents a challenging task for host species, whose cognitive mechanisms are still poorly understood. Herein, the social fish Paracheirodon innesi, was selected as model organism to investigate animal abilities in exploiting visual information to identify and promote social distancing towards potentially infected conspecifics. To address this, a robotic fish replica mimicking a healthy P. innesi subject, and another mimicking P. innesi with morphological and/or locomotion anomalies were developed. P. innesi individuals were attracted by the healthy fish replica, while they avoided the fish replica with morphological abnormalities, as well as the fish replica with an intact appearance, but performing locomotion anomalies (both symptoms associated with a microsporidian parasite infesting P. innesi and other fish). Furthermore, the fish replica presenting both morphology and locomotion anomalies in conjunction, triggered a significantly stronger social distancing response. This confirms the hypothesis that group living animals overgeneralize cues that can be related with a disease to minimize transmission, and highlights the important role of visual cues in infection risk contexts. This study prompts more attention on the role of behavioural-based strategies to avoid pathogen/parasite diffusion, and can be used to optimize computational approaches to model disease dynamics.
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Affiliation(s)
- Donato Romano
- The BioRobotics Institute, Sant'Anna School of Advanced Studies, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy.
- Department of Excellence in Robotics and AI, Sant'Anna School of Advanced Studies, 56127, Pisa, Italy.
| | - Cesare Stefanini
- The BioRobotics Institute, Sant'Anna School of Advanced Studies, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy
- Department of Excellence in Robotics and AI, Sant'Anna School of Advanced Studies, 56127, Pisa, Italy
- Healthcare Engineering Innovation Center (HEIC), Khalifa University, Abu Dhabi, UAE
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10
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Schmickl T, Szopek M, Mondada F, Mills R, Stefanec M, Hofstadler DN, Lazic D, Barmak R, Bonnet F, Zahadat P. Social Integrating Robots Suggest Mitigation Strategies for Ecosystem Decay. Front Bioeng Biotechnol 2021; 9:612605. [PMID: 34109162 PMCID: PMC8181169 DOI: 10.3389/fbioe.2021.612605] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/30/2020] [Accepted: 03/11/2021] [Indexed: 12/02/2022] Open
Abstract
We develop here a novel hypothesis that may generate a general research framework of how autonomous robots may act as a future contingency to counteract the ongoing ecological mass extinction process. We showcase several research projects that have undertaken first steps to generate the required prerequisites for such a technology-based conservation biology approach. Our main idea is to stabilise and support broken ecosystems by introducing artificial members, robots, that are able to blend into the ecosystem's regulatory feedback loops and can modulate natural organisms' local densities through participation in those feedback loops. These robots are able to inject information that can be gathered using technology and to help the system in processing available information with technology. In order to understand the key principles of how these robots are capable of modulating the behaviour of large populations of living organisms based on interacting with just a few individuals, we develop novel mathematical models that focus on important behavioural feedback loops. These loops produce relevant group-level effects, allowing for robotic modulation of collective decision making in social organisms. A general understanding of such systems through mathematical models is necessary for designing future organism-interacting robots in an informed and structured way, which maximises the desired output from a minimum of intervention. Such models also help to unveil the commonalities and specificities of the individual implementations and allow predicting the outcomes of microscopic behavioural mechanisms on the ultimate macroscopic-level effects. We found that very similar models of interaction can be successfully used in multiple very different organism groups and behaviour types (honeybee aggregation, fish shoaling, and plant growth). Here we also report experimental data from biohybrid systems of robots and living organisms. Our mathematical models serve as building blocks for a deep understanding of these biohybrid systems. Only if the effects of autonomous robots onto the environment can be sufficiently well predicted can such robotic systems leave the safe space of the lab and can be applied in the wild to be able to unfold their ecosystem-stabilising potential.
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Affiliation(s)
- Thomas Schmickl
- Artificial Life Laboratory of the Institute of Biology, University of Graz, Graz, Austria
| | - Martina Szopek
- Artificial Life Laboratory of the Institute of Biology, University of Graz, Graz, Austria
| | - Francesco Mondada
- Mobile Robotic Systems Group, School of Engineering and School of Computer and Communication Sciences, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
| | - Rob Mills
- Mobile Robotic Systems Group, School of Engineering and School of Computer and Communication Sciences, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
- BioISI, Faculdade de Ciências da Universidade de Lisboa, Lisbon, Portugal
| | - Martin Stefanec
- Artificial Life Laboratory of the Institute of Biology, University of Graz, Graz, Austria
| | - Daniel N. Hofstadler
- Artificial Life Laboratory of the Institute of Biology, University of Graz, Graz, Austria
| | - Dajana Lazic
- Artificial Life Laboratory of the Institute of Biology, University of Graz, Graz, Austria
| | - Rafael Barmak
- Mobile Robotic Systems Group, School of Engineering and School of Computer and Communication Sciences, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
| | - Frank Bonnet
- Mobile Robotic Systems Group, School of Engineering and School of Computer and Communication Sciences, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
| | - Payam Zahadat
- Department of Computer Science, IT University of Copenhagen, Copenhagen, Denmark
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11
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Xie F, Zuo Q, Chen Q, Fang H, He K, Du R, Zhong Y, Li Z. Designs of the Biomimetic Robotic Fishes Performing Body and/or Caudal Fin (BCF) Swimming Locomotion: A Review. J INTELL ROBOT SYST 2021. [DOI: 10.1007/s10846-021-01379-1] [Citation(s) in RCA: 11] [Impact Index Per Article: 3.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/11/2023]
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12
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DeLellis P, Cadolini E, Croce A, Yang Y, di Bernardo M, Porfiri M. Model-based feedback control of live zebrafish behavior via interaction with a robotic replica. IEEE T ROBOT 2021; 36:28-41. [PMID: 33746643 DOI: 10.1109/tro.2019.2943066] [Citation(s) in RCA: 10] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/05/2022]
Abstract
The possibility of regulating the behavior of live animals using biologically-inspired robots has attracted the interest of biologists and engineers for over twenty-five years. From early work on insects to recent endeavors on mammals, we have witnessed fascinating applications that have pushed forward our understanding of animal behavior along new directions. Despite significant progress, most of the research has focused on open-loop control systems, in which robots execute predetermined actions, independent of the animal behavior. We integrate mathematical modeling of social behavior toward the design of realistic feedback laws for robots to interact with a live animal. In particular, we leverage recent advancements in data-driven modeling of zebrafish behavior. Ultimately, we establish a novel robotic platform that allows real-time actuation of a biologically-inspired 3D-printed zebrafish replica to implement model-based control of animal behavior. We demonstrate our approach through a series of experiments, designed to elucidate the appraisal of the replica by live subjects with respect to conspecifics and to quantify the biological value of closed-loop control.
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Affiliation(s)
- Pietro DeLellis
- Department of Electrical Electrical Engineering and Information Technology, University of Naples Federico II. Department of Mechanical and Aerospace Engineering, New York University Tandon School of Engineering
| | - Edoardo Cadolini
- Department of Electrical Electrical Engineering and Information Technology, University of Naples Federico II. Department of Mechanical and Aerospace Engineering, New York University Tandon School of Engineering
| | - Arrigo Croce
- Department of Electrical Electrical Engineering and Information Technology, University of Naples Federico II. Department of Mechanical and Aerospace Engineering, New York University Tandon School of Engineering
| | - Yanpeng Yang
- Department of Mechanical and Aerospace Engineering, New York University Tandon School of Engineering. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin, China
| | - Mario di Bernardo
- Department of Electrical Electrical Engineering and Information Technology, University of Naples Federico II. Department of Engineering Mathematics of the University of Bristol, U.K
| | - Maurizio Porfiri
- Department of Mechanical and Aerospace Engineering, New York University Tandon School of Engineering. Department of Biomedical Engineering, New York University Tandon School of Engineering
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13
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Romano D, Benelli G, Kavallieratos NG, Athanassiou CG, Canale A, Stefanini C. Beetle-robot hybrid interaction: sex, lateralization and mating experience modulate behavioural responses to robotic cues in the larger grain borer Prostephanus truncatus (Horn). BIOLOGICAL CYBERNETICS 2020; 114:473-483. [PMID: 32737587 DOI: 10.1007/s00422-020-00839-5] [Citation(s) in RCA: 12] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/26/2019] [Accepted: 06/15/2020] [Indexed: 06/11/2023]
Abstract
Ethorobotics, a new fascinating field of biorobotics, proposes the use of robotic replicas as an advanced method for investigating animal behaviour. This novel research approach can also encourage the development of advanced bioinspired robots. In the present study, we investigated the pushing behaviour, a particular display occurring in several beetle species, such as the larger grain borer, Prostephanus truncatus, during both male-female and male-male contexts. We developed a robotic apparatus actuating female and male-mimicking dummies to study if sex, mating experience and asymmetries of robotic cues can modulate the escalation of pushing behaviour. Results showed that the time needed by P. truncatus to react to female-smelling biomimetic dummies was chiefly affected by their mating experience and the dummy odour. This was likely due to reduce waste of costly sperm in mated males during the subsequent sexual interactions. The pushing behaviour was performed longer and with a higher number of acts when virgin females were approached from their right side. More and longer pushing acts were noted when virgin males were approached from their left side. Dedicated neural circuits would likely act in opposite direction in females and males producing population-level lateralized sensory-motor displays, which may be evolved to promote male approaches from the left side of females, thus improving short-distance sex recognition. Overall, this study provides new insights on the behavioural ecology of stored-product beetles, as well as on self-organization and decentralized decision making that can be exploited to develop bioinspired algorithms for task optimization, involving real-world scenarios.
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Affiliation(s)
- Donato Romano
- The BioRobotics Institute, Sant'Anna School of Advanced Studies, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy.
- Department of Excellence in Robotics, A.I., Sant'Anna School of Advanced Studies, 56127, Pisa, Italy.
| | - Giovanni Benelli
- Department of Agriculture, Food and Environment, University of Pisa, Via del Borghetto 80, 56124, Pisa, Italy
| | - Nickolas G Kavallieratos
- Laboratory of Agricultural Zoology and Entomology, Department of Crop Science, Agricultural University of Athens, 75 Iera Odos str, 11855, Athens, Attica, Greece
| | - Christos G Athanassiou
- Laboratory of Entomology and Agricultural Zoology, Department of Agriculture, Crop Production and Rural Environment, University of Thessaly, Phytokou str, 38446, N. Ionia, Magnissia, Greece
- Healthcare Engineering Innovation Center (HEIC), Khalifa University, Abu Dhabi, UAE
| | - Angelo Canale
- Department of Agriculture, Food and Environment, University of Pisa, Via del Borghetto 80, 56124, Pisa, Italy
| | - Cesare Stefanini
- The BioRobotics Institute, Sant'Anna School of Advanced Studies, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy
- Department of Excellence in Robotics, A.I., Sant'Anna School of Advanced Studies, 56127, Pisa, Italy
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14
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Chemtob Y, Cazenille L, Bonnet F, Gribovskiy A, Mondada F, Halloy J. Strategies to modulate zebrafish collective dynamics with a closed-loop biomimetic robotic system. BIOINSPIRATION & BIOMIMETICS 2020; 15:046004. [PMID: 32252047 DOI: 10.1088/1748-3190/ab8706] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
The objective of this study is to integrate biomimetic robots into small groups of zebrafish and to modulate their collective behaviours. A possible approach is to have the robots behave like sheepdogs. In this case, the robots would behave like a different species than the fish and would present different relevant behaviours. In this study, we explore different strategies that use biomimetic zebrafish behaviours. In past work, we have shown that robots biomimicking zebrafish can be socially integrated into zebrafish groups. We have also shown that a fish-like robot can modulate the rotation choice of zebrafish groups in a circular set-up. Here, we further study the modulation capabilities of such robots in a more complex set-up. To do this, we exploit zebrafish social behaviours we identified in previous studies. We first modulate collective departure by replicating the leadership mechanisms with the robot in a set-up composed of two rooms connected by a corridor. Then, we test different behavioural strategies to drive the fish groups towards a predefined target room. To drive the biohybrid groups towards a predefined choice, they have to adopt some specific fish-like behaviours. The first strategy is based on a single robot using the initiation behaviour. In this case, the robot keeps trying to initiate a group transition towards the target room. The second strategy is based on two robots, one initiating and one staying in the target room as a social attractant. The third strategy is based on a single robot behaving like a zebrafish but staying in the target room as a social attractant. The fourth strategy uses two robots behaving like zebrafish but staying in the target room. We conclude that robots can modulate zebrafish group behaviour by adopting strategies based on existing fish behaviours. Under these conditions, robots enable the testing of hypotheses about the behaviours of fish.
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Affiliation(s)
- Yohann Chemtob
- Univ Paris Diderot, Sorbonne Paris Cité, LIED, UMR 8236, 75013, Paris, France
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Bierbach D, Mönck HJ, Lukas J, Habedank M, Romanczuk P, Landgraf T, Krause J. Guppies Prefer to Follow Large (Robot) Leaders Irrespective of Own Size. Front Bioeng Biotechnol 2020; 8:441. [PMID: 32500065 PMCID: PMC7243707 DOI: 10.3389/fbioe.2020.00441] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/16/2020] [Accepted: 04/16/2020] [Indexed: 11/13/2022] Open
Abstract
Body size is often assumed to determine how successfully an individual can lead others with larger individuals being better leaders than smaller ones. But even if larger individuals are more readily followed, body size often correlates with specific behavioral patterns and it is thus unclear whether larger individuals are more often followed than smaller ones because of their size or because they behave in a certain way. To control for behavioral differences among differentially-sized leaders, we used biomimetic robotic fish (Robofish) of different sizes. Live guppies (Poecilia reticulata) are known to interact with Robofish in a similar way as with live conspecifics. Consequently, Robofish may serve as a conspecific-like leader that provides standardized behaviors irrespective of its size. We asked whether larger Robofish leaders are preferentially followed and whether the preferences of followers depend on own body size or risk-taking behavior ("boldness"). We found that live female guppies followed larger Robofish leaders in closer proximity than smaller ones and this pattern was independent of the followers' own body size as well as risk-taking behavior. Our study shows a "bigger is better" pattern in leadership that is independent of behavioral differences among differentially-sized leaders, followers' own size and risk-taking behavior.
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Affiliation(s)
- David Bierbach
- Faculty of Life Sciences, Thaer Institute, Humboldt-Universität zu Berlin, Berlin, Germany
- Excellence Cluster ‘Science of Intelligence’, Technische Universität Berlin, Berlin, Germany
- Department of Biology and Ecology of Fishes, Leibniz-Institute of Freshwater Ecology and Inland Fisheries, Berlin, Germany
| | - Hauke J. Mönck
- Department of Mathematics and Computer Science, Institute for Computer Science, Freie Universität Berlin, Berlin, Germany
| | - Juliane Lukas
- Faculty of Life Sciences, Thaer Institute, Humboldt-Universität zu Berlin, Berlin, Germany
- Department of Biology and Ecology of Fishes, Leibniz-Institute of Freshwater Ecology and Inland Fisheries, Berlin, Germany
| | - Marie Habedank
- Faculty of Life Sciences, Thaer Institute, Humboldt-Universität zu Berlin, Berlin, Germany
- Department of Biology and Ecology of Fishes, Leibniz-Institute of Freshwater Ecology and Inland Fisheries, Berlin, Germany
| | - Pawel Romanczuk
- Excellence Cluster ‘Science of Intelligence’, Technische Universität Berlin, Berlin, Germany
- Department of Biology, Institute for Theoretical Biology, Humboldt-Universität zu Berlin, Berlin, Germany
- Bernstein Center for Computational Neuroscience, Humboldt-Universität zu Berlin, Berlin, Germany
| | - Tim Landgraf
- Excellence Cluster ‘Science of Intelligence’, Technische Universität Berlin, Berlin, Germany
- Department of Mathematics and Computer Science, Institute for Computer Science, Freie Universität Berlin, Berlin, Germany
| | - Jens Krause
- Faculty of Life Sciences, Thaer Institute, Humboldt-Universität zu Berlin, Berlin, Germany
- Excellence Cluster ‘Science of Intelligence’, Technische Universität Berlin, Berlin, Germany
- Department of Biology and Ecology of Fishes, Leibniz-Institute of Freshwater Ecology and Inland Fisheries, Berlin, Germany
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16
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Romano D, Donati E, Benelli G, Stefanini C. A review on animal-robot interaction: from bio-hybrid organisms to mixed societies. BIOLOGICAL CYBERNETICS 2019; 113:201-225. [PMID: 30430234 DOI: 10.1007/s00422-018-0787-5] [Citation(s) in RCA: 76] [Impact Index Per Article: 15.2] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/25/2017] [Accepted: 10/19/2018] [Indexed: 05/28/2023]
Abstract
Living organisms are far superior to state-of-the-art robots as they have evolved a wide number of capabilities that far encompass our most advanced technologies. The merging of biological and artificial world, both physically and cognitively, represents a new trend in robotics that provides promising prospects to revolutionize the paradigms of conventional bio-inspired design as well as biological research. In this review, a comprehensive definition of animal-robot interactive technologies is given. They can be at animal level, by augmenting physical or mental capabilities through an integrated technology, or at group level, in which real animals interact with robotic conspecifics. Furthermore, an overview of the current state of the art and the recent trends in this novel context is provided. Bio-hybrid organisms represent a promising research area allowing us to understand how a biological apparatus (e.g. muscular and/or neural) works, thanks to the interaction with the integrated technologies. Furthermore, by using artificial agents, it is possible to shed light on social behaviours characterizing mixed societies. The robots can be used to manipulate groups of living organisms to understand self-organization and the evolution of cooperative behaviour and communication.
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Affiliation(s)
- Donato Romano
- The BioRobotics Institute, Sant'Anna School of Advanced Studies, Viale Rinaldo Piaggio 34, 56025, Pontedera, PI, Italy.
| | - Elisa Donati
- The Institute of Neuroinformatics, University of Zurich/ETH, Winterthurerstrasse 190, 8057, Zurich, Switzerland
| | - Giovanni Benelli
- The BioRobotics Institute, Sant'Anna School of Advanced Studies, Viale Rinaldo Piaggio 34, 56025, Pontedera, PI, Italy
- Department of Agriculture, Food and Environment, University of Pisa, Via del Borghetto 80, 56124, Pisa, Italy
| | - Cesare Stefanini
- The BioRobotics Institute, Sant'Anna School of Advanced Studies, Viale Rinaldo Piaggio 34, 56025, Pontedera, PI, Italy
- HEIC Center, BME Department, Khalifa University, PO Box 127788, Abu Dhabi, UAE
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Spinello C, Yang Y, Macrì S, Porfiri M. Zebrafish Adjust Their Behavior in Response to an Interactive Robotic Predator. Front Robot AI 2019; 6:38. [PMID: 33501054 PMCID: PMC7806020 DOI: 10.3389/frobt.2019.00038] [Citation(s) in RCA: 24] [Impact Index Per Article: 4.8] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/24/2019] [Accepted: 04/30/2019] [Indexed: 11/13/2022] Open
Abstract
Zebrafish (Danio rerio) constitutes a valuable experimental species for the study of the biological determinants of emotional responses, such as fear and anxiety. Fear-related test paradigms traditionally entail the interaction between focal subjects and live predators, which may show inconsistent behavior throughout the experiment. To address this technical challenge, robotic stimuli are now frequently integrated in behavioral studies, yielding repeatable, customizable, and controllable experimental conditions. While most of the research has focused on open-loop control where robotic stimuli are preprogrammed to execute a priori known actions, recent work has explored the possibility of two-way interactions between robotic stimuli and live subjects. Here, we demonstrate a "closed-loop control" system to investigate fear response of zebrafish in which the response of the robotic stimulus is determined in real-time through a finite-state Markov chain constructed from independent observations on the interactions between zebrafish and their predator. Specifically, we designed a 3D-printed robotic replica of the zebrafish allopatric predator red tiger Oscar fish (Astronotus ocellatus), instrumented to interact in real-time with live subjects. We investigated the role of closed-loop control in modulating fear response in zebrafish through the analysis of the focal fish ethogram and the information-theoretic quantification of the interaction between the subject and the replica. Our results indicate that closed-loop control elicits consistent fear response in zebrafish and that zebrafish quickly adjust their behavior to avoid the predator's attacks. The augmented degree of interactivity afforded by the Markov-chain-dependent actuation of the replica constitutes a fundamental advancement in the study of animal-robot interactions and offers a new means for the development of experimental paradigms to study fear.
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Affiliation(s)
- Chiara Spinello
- Department of Mechanical and Aerospace Engineering, New York University, Tandon School of Engineering, Brooklyn, NY, United States
| | - Yanpeng Yang
- Department of Mechanical and Aerospace Engineering, New York University, Tandon School of Engineering, Brooklyn, NY, United States
- Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin, China
| | - Simone Macrì
- Department of Mechanical and Aerospace Engineering, New York University, Tandon School of Engineering, Brooklyn, NY, United States
- Centre for Behavioural Sciences and Mental Health, Istituto Superiore di Sanità, Rome, Italy
| | - Maurizio Porfiri
- Department of Mechanical and Aerospace Engineering, New York University, Tandon School of Engineering, Brooklyn, NY, United States
- Department of Biomedical Engineering, New York University, Tandon School of Engineering, Brooklyn, NY, United States
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Bonnet F, Mills R, Szopek M, Schönwetter-Fuchs S, Halloy J, Bogdan S, Correia L, Mondada F, Schmickl T. Robots mediating interactions between animals for interspecies collective behaviors. Sci Robot 2019; 4:4/28/eaau7897. [PMID: 33137747 DOI: 10.1126/scirobotics.aau7897] [Citation(s) in RCA: 21] [Impact Index Per Article: 4.2] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/16/2018] [Accepted: 02/06/2019] [Indexed: 12/30/2022]
Abstract
Self-organized collective behavior has been analyzed in diverse types of gregarious animals. Such collective intelligence emerges from the synergy between individuals, which behave at their own time and spatial scales and without global rules. Recently, robots have been developed to collaborate with animal groups in the pursuit of better understanding their decision-making processes. These biohybrid systems make cooperative relationships between artificial systems and animals possible, which can yield new capabilities in the resulting mixed group. However, robots are currently tailor-made to successfully engage with one animal species at a time. This limits the possibilities of introducing distinct species-dependent perceptual capabilities and types of behaviors in the same system. Here, we show that robots socially integrated into animal groups of honeybees and zebrafish, each one located in a different city, allowing these two species to interact. This interspecific information transfer is demonstrated by collective decisions that emerge between the two autonomous robotic systems and the two animal groups. The robots enable this biohybrid system to function at any distance and operates in water and air with multiple sensorimotor properties across species barriers and ecosystems. These results demonstrate the feasibility of generating and controlling behavioral patterns in biohybrid groups of multiple species. Such interspecies connections between diverse robotic systems and animal species may open the door for new forms of artificial collective intelligence, where the unrivaled perceptual capabilities of the animals and their brains can be used to enhance autonomous decision-making, which could find applications in selective "rewiring" of ecosystems.
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Affiliation(s)
- Frank Bonnet
- Robotic Systems Laboratory, École Polytechnique Fédérale de Lausanne, EPFL STI IMT LSRO, ME B3 30 (Bâtiment ME), Station 9 1015 Lausanne, Switzerland.
| | - Rob Mills
- BioISI, Faculdade de Ciências da Universidade de Lisboa, 1749-016 Lisbon, Portugal
| | - Martina Szopek
- Artificial Life Laboratory of the Institute of Biology, Karl-Franzens University Graz, Universitätsplatz 2, 8010 Graz, Austria
| | - Sarah Schönwetter-Fuchs
- Artificial Life Laboratory of the Institute of Biology, Karl-Franzens University Graz, Universitätsplatz 2, 8010 Graz, Austria
| | - José Halloy
- Univ Paris Diderot, Sorbonne Paris Cité, LIED UMR 8236, 75013 Paris, France
| | - Stjepan Bogdan
- Laboratory for Robotics and Intelligent Control Systems, Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia
| | - Luís Correia
- BioISI, Faculdade de Ciências da Universidade de Lisboa, 1749-016 Lisbon, Portugal
| | - Francesco Mondada
- Robotic Systems Laboratory, École Polytechnique Fédérale de Lausanne, EPFL STI IMT LSRO, ME B3 30 (Bâtiment ME), Station 9 1015 Lausanne, Switzerland
| | - Thomas Schmickl
- Artificial Life Laboratory of the Institute of Biology, Karl-Franzens University Graz, Universitätsplatz 2, 8010 Graz, Austria
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Romano D, Benelli G, Stefanini C. Encoding lateralization of jump kinematics and eye use in a locust via bio-robotic artifacts. ACTA ACUST UNITED AC 2019; 222:jeb.187427. [PMID: 30446536 DOI: 10.1242/jeb.187427] [Citation(s) in RCA: 29] [Impact Index Per Article: 5.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/22/2018] [Accepted: 11/05/2018] [Indexed: 11/20/2022]
Abstract
The effect of previous exposure to lateral sensory stimuli in shaping the response to subsequent symmetric stimuli represents an important overlooked issue in neuroethology, with special reference to arthropods. In this research, we investigated the hypothesis to 'programme' jumping escape direction as well as surveillance orientation in young and adult individuals of Locusta migratoria as an adaptive consequence of prior exposure to directional-biased predator approaches generated by a robotic leopard gecko representing Eublepharis macularius The manipulation of the jumping escape direction was successfully achieved in young locusts, although young L. migratoria did not exhibit innately lateralized jumping escapes. Jumping escape direction was also successfully manipulated in adult locusts, which exhibited innate lateralized jumping escape at the individual level. The innate lateralization of each instar of L. migratoria in using a preferential eye during surveillance was not affected by prior lateralized exposure to the robotic gecko. Our results indicate a high plasticity of the escape motor outputs that are occurring almost in real time with the perceived stimuli, making them greatly adaptable and compliant to environmental changes in order to be effective and reliable. In addition, surveillance lateralization innately occurs at population level in each instar of L. migratoria Therefore, its low forgeability by environmental factors would avoid disorganization at swarm level and improve swarm coordination during group tasks. These findings are consistent with the fact that, as in vertebrates, in insects the right hemisphere is specialized in controlling fear and escape functions.
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Affiliation(s)
- Donato Romano
- The BioRobotics Institute, Sant'Anna School of Advanced Studies, Viale Rinaldo Piaggio 34, 56025 Pontedera, Pisa, Italy
| | - Giovanni Benelli
- The BioRobotics Institute, Sant'Anna School of Advanced Studies, Viale Rinaldo Piaggio 34, 56025 Pontedera, Pisa, Italy.,Department of Agriculture, Food and Environment, University of Pisa, Via Del Borghetto 80, 56124, Pisa, Italy
| | - Cesare Stefanini
- The BioRobotics Institute, Sant'Anna School of Advanced Studies, Viale Rinaldo Piaggio 34, 56025 Pontedera, Pisa, Italy.,Healthcare Engineering Innovation Center (HEIC), Khalifa University, Abu Dhabi, UAE
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20
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Bierbach D, Landgraf T, Romanczuk P, Lukas J, Nguyen H, Wolf M, Krause J. Using a robotic fish to investigate individual differences in social responsiveness in the guppy. ROYAL SOCIETY OPEN SCIENCE 2018; 5:181026. [PMID: 30225087 PMCID: PMC6124066 DOI: 10.1098/rsos.181026] [Citation(s) in RCA: 23] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/27/2018] [Accepted: 07/06/2018] [Indexed: 05/19/2023]
Abstract
Responding towards the actions of others is one of the most important behavioural traits whenever animals of the same species interact. Mutual influences among interacting individuals may modulate the social responsiveness seen and thus make it often difficult to study the level and individual variation in responsiveness. Here, open-loop biomimetic robots that provide standardized, non-interactive social cues can be a useful tool. These robots are not affected by the live animal's actions but are assumed to still represent valuable and biologically relevant social cues. As this assumption is crucial for the use of biomimetic robots in behavioural studies, we hypothesized (i) that meaningful social interactions can be assumed if live animals maintain individual differences in responsiveness when interacting with both a biomimetic robot and a live partner. Furthermore, to study the level of individual variation in social responsiveness, we hypothesized (ii) that individual differences should be maintained over the course of multiple tests with the robot. We investigated the response of live guppies (Poecilia reticulata) when allowed to interact either with a biomimetic open-loop-controlled fish robot-'Robofish'-or with a live companion. Furthermore, we investigated the responses of live guppies when tested three times with Robofish. We found that responses of live guppies towards Robofish were weaker compared with those of a live companion, most likely as a result of the non-interactive open-loop behaviour of Robofish. Guppies, however, were consistent in their individual responses between a live companion and Robofish, and similar individual differences in response towards Robofish were maintained over repeated testing even though habituation to the test environment was detectable. Biomimetic robots like Robofish are therefore a useful tool for the study of social responsiveness in guppies and possibly other small fish species.
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Affiliation(s)
- David Bierbach
- Leibniz-Institute of Freshwater Ecology and Inland Fisheries, Müggelseedamm 310, 12587 Berlin, Germany
| | - Tim Landgraf
- Department of Mathematics and Computer Science, Freie Universität Berlin, Institute for Computer Science, Arnimallee 7, 14195 Berlin, Germany
| | - Pawel Romanczuk
- Faculty of Life Sciences, Humboldt University of Berlin, Thaer Institute, Hinter d. Reinhardtstr. 8-18, Berlin, Germany
- Department of Biology, Institute for Theoretical Biology, Humboldt Universität zu Berlin, Philippstr. 13, 10115 Berlin, Germany
- Bernstein Center for Computational Neuroscience, Humboldt Universität zu Berlin, Philippstr. 13, 10115 Berlin, Germany
| | - Juliane Lukas
- Leibniz-Institute of Freshwater Ecology and Inland Fisheries, Müggelseedamm 310, 12587 Berlin, Germany
- Faculty of Life Sciences, Humboldt University of Berlin, Thaer Institute, Hinter d. Reinhardtstr. 8-18, Berlin, Germany
| | - Hai Nguyen
- Leibniz-Institute of Freshwater Ecology and Inland Fisheries, Müggelseedamm 310, 12587 Berlin, Germany
| | - Max Wolf
- Leibniz-Institute of Freshwater Ecology and Inland Fisheries, Müggelseedamm 310, 12587 Berlin, Germany
| | - Jens Krause
- Leibniz-Institute of Freshwater Ecology and Inland Fisheries, Müggelseedamm 310, 12587 Berlin, Germany
- Faculty of Life Sciences, Humboldt University of Berlin, Thaer Institute, Hinter d. Reinhardtstr. 8-18, Berlin, Germany
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Cazenille L, Chemtob Y, Bonnet F, Gribovskiy A, Mondada F, Bredeche N, Halloy J. How to Blend a Robot Within a Group of Zebrafish: Achieving Social Acceptance Through Real-Time Calibration of a Multi-level Behavioural Model. BIOMIMETIC AND BIOHYBRID SYSTEMS 2018. [DOI: 10.1007/978-3-319-95972-6_9] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/07/2023]
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