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

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

Soft Robotics, 2025

Number of Access:349（2025-08-29 20:03 Counts）

Identifier to cite or link to this item: https://hdl.handle.net/11094/101070

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Title
Biohybrid Behavior-Based Navigation with Obstacle Avoidance for Cyborg Insect in Complex Environment
Creator
CreatorName
Ariyanto, Mochammad
CreatorName
Zheng, Xiaofeng
CreatorName
Tanaka, Ryo
CreatorName
Refat, Chowdhury Mohammad Masum
CreatorName
Hirota, Nima
CreatorName
Yamamoto, Kotaro
NRID
1000060359114 1000060359114
ORCID
0000-0003-1146-3900 0000-0003-1146-3900
researchmap permalink
livemechx livemechx
Scopus Author ID
7004928841 7004928841
CreatorName
Morishima, Keisuke
Subject
autonomous navigation
biohybrid behavior-based navigation
complex environment
cyborg insects
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.
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.
Publisher
Mary Ann Liebert Inc.
Source Title
Soft Robotics
Date of Issued
2025-02-11
Language
English
Handle URL
https://hdl.handle.net/11094/101070
PISSN
21695172
eISSN
21695180
Relation.isIdenticalTo
DOI (Publisher Version)
https://doi.org/10.1089/soro.2024.0082
Access Rights
open access
CopyRight
This article is licensed under a Creative Commons Attribution 4.0 International License.
oaire:version
Version of Record
Category
学術雑誌論文 Journal Article