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Resource-efficient bio-inspired visual processing on the hexapod walking robot HECTOR

by Egelhaaf, Martin , Paskarbeit, Jan , Porrmann, Mario , Meyer, Hanno Gerd , Rückert, Ulrich , Schneider, Axel , Klimeck, Daniel

in Algorithms / Animal behavior / Behavior / Biology and Life Sciences / Cameras / Collision avoidance / Computer and Information Sciences / Display adapters / Drones / Embedded systems / Engineering and Technology / Field programmable gate arrays / Hardware / Image Processing, Computer-Assisted / Information processing / Insect mimicking walking robots / Insects / Medicine and Health Sciences / Meyer, Daniel / Models, Biological / Modules / Motion detection / Motion Perception / Navigation behavior / Neurobiology / Neurophysiology / Neurosciences / Novels / Parallel processing / Robotics / Robotics industry / Robots / Semiconductor industry / Social Sciences / System on chip / Vision, Ocular / Visual flight / Visual perception / Walking

2020

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Resource-efficient bio-inspired visual processing on the hexapod walking robot HECTOR

by Egelhaaf, Martin , Paskarbeit, Jan , Porrmann, Mario , Meyer, Hanno Gerd , Rückert, Ulrich , Schneider, Axel , Klimeck, Daniel

2020

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Resource-efficient bio-inspired visual processing on the hexapod walking robot HECTOR

by Egelhaaf, Martin , Paskarbeit, Jan , Porrmann, Mario , Meyer, Hanno Gerd , Rückert, Ulrich , Schneider, Axel , Klimeck, Daniel

2020

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Journal Article

Resource-efficient bio-inspired visual processing on the hexapod walking robot HECTOR

Egelhaaf, Martin,

Paskarbeit, Jan,

Porrmann, Mario,

Meyer, Hanno Gerd,

Rückert, Ulrich,

Schneider, Axel,

Klimeck, Daniel

2020

Overview

Emulating the highly resource-efficient processing of visual motion information in the brain of flying insects, a bio-inspired controller for collision avoidance and navigation was implemented on a novel, integrated System-on-Chip-based hardware module. The hardware module is used to control visually-guided navigation behavior of the stick insect-like hexapod robot HECTOR. By leveraging highly parallelized bio-inspired algorithms to extract nearness information from visual motion in dynamically reconfigurable logic, HECTOR is able to navigate to predefined goal positions without colliding with obstacles. The system drastically outperforms CPU- and graphics card-based implementations in terms of speed and resource efficiency, making it suitable to be also placed on fast moving robots, such as flying drones.

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Publisher

Public Library of Science,Public Library of Science (PLoS)

Subject

Algorithms

/ Animal behavior

/ Behavior

/ Biology and Life Sciences

/ Cameras

/ Collision avoidance

/ Computer and Information Sciences