language: en

Implementing Schema-theoretic Models of Animal Behavior in Robotic Systems

Khaled S. Ali and Ronald C. Arkin
Mobile Robot Laboratory College of Computing Georgia Institute of Technology
Atlanta, GA, 30332-0281 USA
fkali,arking@cc.gatech.edu

Abstract Formal models of animal sensorimotor behavior can provide effective methods for generating robotic intelligence. In this paper we describe how schema-theoretic models of the praying mantis are implemented on a hexapod robot equipped with a real-time color vision system. The model upon which the implementation is based was developed by ethologists studying man-tids. This implementation incorporates a wide range of behaviors, including obstacle avoidance, prey acquisition, predator avoidance, mating, and chantlitaxia behaviors.

1 Introduction