Biohybrid Behavior-Based Navigation with Obstacle Avoidance for Cyborg Insect in Complex Environment

Ariyanto, Mochammad; Zheng, Xiaofeng; Tanaka, Ryo; Refat, Chowdhury Mohammad Masum; Hirota, Nima; Yamamoto, Kotaro; Morishima, Keisuke

doi:https://doi.org/10.1089/soro.2024.0082

Biohybrid Behavior-Based Navigation with Obstacle Avoidance for Cyborg Insect in Complex Environment

Ariyanto, Mochammad; Zheng, Xiaofeng; Tanaka, Ryo et al.

Soft Robotics, 2025

アクセス数:14件（2025-04-28 16:00 集計）

固定URL: https://hdl.handle.net/11094/101070

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タイトル	Biohybrid Behavior-Based Navigation with Obstacle Avoidance for Cyborg Insect in Complex Environment
著者	著者名 Ariyanto, Mochammad
	著者名 Zheng, Xiaofeng
	著者名 Tanaka, Ryo
	著者名 Refat, Chowdhury Mohammad Masum
	著者名 Hirota, Nima
	著者名 Yamamoto, Kotaro
	NRID 1000060359114 1000060359114 ORCID 0000-0003-1146-3900 0000-0003-1146-3900 researchmap permalink livemechx livemechx Scopus Author ID 7004928841 7004928841 著者名 Morishima, Keisuke
キーワード等	autonomous navigation
	biohybrid behavior-based navigation
	complex environment
	cyborg insects
内容	Ariyanto M., Zheng X., Tanaka R., et al. Biohybrid Behavior-Based Navigation with Obstacle Avoidance for Cyborg Insect in Complex Environment. Soft Robotics , (2025); https://doi.org/10.1089/soro.2024.0082.
抄録	Autonomous navigation of cyborg insects in complex environments remains a challenging issue. Cyborg insects, which combine biological organisms with electronic components, offer a unique approach to tackle such challenges. This study presents a biohybrid behavior-based navigation (BIOBBN) system that enables cyborg cockroaches to navigate complex environments autonomously. Two navigation algorithms were developed: reach-avoid navigation for less complex environments and adaptive reach-avoid navigation for more challenging scenarios. This algorithm, especially the second one, leveraged the cockroaches’ natural behaviors, such as wall-following and climbing, to navigate around and over obstacles. Experiments in simulated environments, including sand and rock-covered surfaces, demonstrate the effectiveness of the BIOBBN system in enabling cyborg cockroaches to navigate and reach target locations. The denser second scenario required more time due to increased obstacle avoidance and natural climbing behavior. Overall performance was promising, highlighting the potential of biohybrid navigation for autonomous cyborg insects in navigating complex environments.
出版者	Mary Ann Liebert Inc.
収録物名	Soft Robotics
刊行年月	2025-02-11
言語	英語
ハンドルURL	https://hdl.handle.net/11094/101070
PISSN	21695172
eISSN	21695180
関連情報 (isIdenticalTo)	DOI (出版社版) https://doi.org/10.1089/soro.2024.0082
アクセス権	open access
権利情報	This article is licensed under a Creative Commons Attribution 4.0 International License.
出版タイプ	Version of Record
カテゴリ	学術雑誌論文 Journal Article

資源タイプ	学術雑誌論文
ローカル資源タイプ	学術雑誌論文
DCMI資源タイプ	text
DCTERMS.bibliographicCitation	Soft Robotics. 2025
DC.title	Biohybrid Behavior-Based Navigation with Obstacle Avoidance for Cyborg Insect in Complex Environment
DC.creator	Ariyanto, Mochammad
	Zheng, Xiaofeng
	Tanaka, Ryo
	Refat, Chowdhury Mohammad Masum
	Hirota, Nima
	Yamamoto, Kotaro
	Morishima, Keisuke
DC.publisher	Mary Ann Liebert Inc.
DC.language' scheme='DCTERMS.RFC1766	英語
DC.type' scheme='DCTERMS.DCMIType	text
DCTERMS.issued' scheme='DCTERMS.W3CDTF	2025-02-11
DC.identifier	https://doi.org/10.1089/soro.2024.0082
DC.subject	autonomous navigation
	biohybrid behavior-based navigation
	complex environment
	cyborg insects
DC.description	Ariyanto M., Zheng X., Tanaka R., et al. Biohybrid Behavior-Based Navigation with Obstacle Avoidance for Cyborg Insect in Complex Environment. Soft Robotics , (2025); https://doi.org/10.1089/soro.2024.0082.
DCTERMS.abstract	Autonomous navigation of cyborg insects in complex environments remains a challenging issue. Cyborg insects, which combine biological organisms with electronic components, offer a unique approach to tackle such challenges. This study presents a biohybrid behavior-based navigation (BIOBBN) system that enables cyborg cockroaches to navigate complex environments autonomously. Two navigation algorithms were developed: reach-avoid navigation for less complex environments and adaptive reach-avoid navigation for more challenging scenarios. This algorithm, especially the second one, leveraged the cockroaches’ natural behaviors, such as wall-following and climbing, to navigate around and over obstacles. Experiments in simulated environments, including sand and rock-covered surfaces, demonstrate the effectiveness of the BIOBBN system in enabling cyborg cockroaches to navigate and reach target locations. The denser second scenario required more time due to increased obstacle avoidance and natural climbing behavior. Overall performance was promising, highlighting the potential of biohybrid navigation for autonomous cyborg insects in navigating complex environments.
DC.rights	This article is licensed under a Creative Commons Attribution 4.0 International License.
DC.format	101070
citation_title	Biohybrid Behavior-Based Navigation with Obstacle Avoidance for Cyborg Insect in Complex Environment
citation_author	Ariyanto, Mochammad
	Zheng, Xiaofeng
	Tanaka, Ryo
	Refat, Chowdhury Mohammad Masum
	Hirota, Nima
	Yamamoto, Kotaro
	Morishima, Keisuke
citation_publisher	Mary Ann Liebert Inc.
citation_language	英語
citation_date	2025-02-11
citation_journal_title	Soft Robotics
citation_doi	https://doi.org/10.1089/soro.2024.0082
citation_public_url	https://hdl.handle.net/11094/101070

Biohybrid Behavior-Based Navigation with Obstacle Avoidance for Cyborg Insect in Complex Environment

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