1. © Rolf Pfeifer AMOUSE – Artificial Mouse Overview Leuven, 3 December 2002 Review Meeting Andreas K. Engel, GFA Jülich Rolf Pfeifer, Uni Zürich Mathew Diamond, SISSA Trieste Peter König, ETH Zürich Ralf Möller, MPI München

2. © Rolf Pfeifer Goals of AMOUSE project parallel investigation of artificial and natural system explanation of natural behavior creation of “living artifacts” “complete agent” approach specificially –interaction of profoundly morphologically different sensory systems (visual and whisker system) –efficient use of multi-modal input –cross-modal integration, learning, and generalization –temperal synchronization

3. © Rolf Pfeifer Background – whisker systems in nature: comparable to finger tips motion detection of distant objects navigation in the dark rich shape and texture information neural processing: model system for somatosensory processing in robotics: so far: limited (binary, strain sensors, bending angles) new biologically inspired: temporal high-frequency information collision and motion detection texture discrimination  cheap and efficient sensors

4. © Rolf Pfeifer Realization behavior of complete agent integration of vision and whisker modality model of somatosensory processing cortical recordings in rodents construction of artificial whiskers simulations behavior in rodents and the robot

5. © Rolf Pfeifer Expected impact new understanding: –interplay of morphology and materials of sensory and motor systems and neural processing –multi-modal sensory integration –exploitation for behavior of complete agent –processing in somatosensory system –adaptive behavior in general new technology: –sensory modality for robotic applications –adaptivity through multi-modal neural integration –“living artifacts” new tools: –synthetic methodology –testbed for controlled experimentation NMOUSE AMOUSE

6. © Rolf Pfeifer Realization - Electrophysiology behavior of complete agent integration of vision and whisker modality model of somatosensory processing cortical recordings in rodents construction of artificial whiskers simulations behavior in rodents and the robot topological representation of whiskers Arc 1 Row B micro-electrode array for cortical recordings „barrels“ in somatosensory cortex

7. © Rolf Pfeifer Simulation behavior of complete agent integration of vision and whisker modality model of somatosensory processing cortical recordings in rodents construction of artificial whiskers simulations behavior in rodents and the robot simulation of a single whisker using finite element method simulation of robot whisking texture physics-based simulation

8. © Rolf Pfeifer Behavior behavior of complete agent integration of vision and whisker modality model of somatosensory processing cortical recordings in rodents construction of artificial whiskers simulations behavior in rodents and the robot 8-arm maze for rodent and robot rat looking into „arm“ possible scenario:

9. © Rolf Pfeifer Artificial Whiskers behavior of complete agent integration of vision and whisker modality model of somatosensory processing cortical recordings in rodents construction of artificial whiskers simulations behavior in rodents and the robot LED mirror photodiodes whisker optic sensor acoustic sensor active array of acoustic sensors magnetic sensor