基于感官电刺激的昆虫运动轨迹调控技术

doi:10.3901/JME.2025.15.221

摘要/Abstract

摘要： 目前的昆虫运动轨迹调控尚且存在控制系统集成度低、输出指令单一、刺激信号-轨迹匹配程度差等问题，从而影响昆虫机器人的运动轨迹控制效率。在探索昆虫感官电刺激下昆虫运动行为调控机制的基础上，结合双面丝网印刷技术，开发了一款高度集成的红外通讯微型控制背包。背包质量仅为74 mg，且结构具有一定柔性，具备变参数输出功能。此外，为提升刺激信号与昆虫运动轨迹的匹配性，进一步探索了感官电刺激信号与昆虫行为响应以及空间运动决策之间的相关性，最终获得了刺激信号-运动参数之间的映射关系，并实现了对昆虫沿特定轨迹的运动控制。基于感官电刺激的昆虫运动轨迹调控技术以及微型控制系统为提升昆虫机器人控制准确性提供了理论依据与技术支持。

关键词: 昆虫机器人, 蜜蜂, 蟑螂, 控制背包, 轨迹调控

Abstract: The current trajectory regulation of cyborg insects faces challenges, including low integration of the stimulation package, single output command, and inadequate signal-trajectory coordination, adversely impacting the efficiency of modulating cyborg insects’ trajectory. To address these challenges, the mechanism of insect locomotion control under sensory electrical stimulation is first explored, which leads to the development of a highly integrated stimulation package. This stimulation module utilizes infrared communication and employs a double-sided screen-printing technique. Remarkably, the stimulation package weighs only 74 mg and features a flexible structure with adjustable parameter output functionality. Furthermore, to enhance the alignment between stimulus signals and insect trajectories, the correlation between sensory stimulus signals and insect behavioral responses as well as spatial movement decisions is further explored. Through this exploration, a mapping relationship between stimulus signals and locomotion parameters is established, enabling precise control over insect movements along specific trajectories. The sensory stimulation-based trajectory control strategy, coupled with the micro stimulation package, lays a theoretical foundation and provides technical support for enhancing the control accuracy of cyborg insects.

Key words: cyborg insect, honeybee, cockroach, modulation package, trajectory control

中图分类号:

TH39

余丽, 刘忠, 马志云, 赵杰亮, 闫梦丹. 基于感官电刺激的昆虫运动轨迹调控技术[J]. 机械工程学报, 2025, 61(15): 221-232.

YU Li, LIU Zhong, MA Zhiyun, ZHAO Jieliang, YAN Mengdan. Insect Trajectory Modulation Technology Based on Electrical Stimulation of Sensory Organs[J]. Journal of Mechanical Engineering, 2025, 61(15): 221-232.

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