Bio-Inspired Models For Embodied Locomotion And Perception

Locomotion and action-oriented-perception in bioinspired robots are paradigmatic examples of the emerging solution of nonlinear dynamics and embodiment. Neurons and specifically motor-neurons are the elementary example of such symbiosis. Whereas single neurons can locally close the sensory loop, neural networks are in charge of driving higher level behaviours, from single actions to complete plans. As a main source of inspiration, the insect world was taken into account, due to the simple brain complexity and, at the same time, the extraordinary plethora of behaviours that can be discovered in such creatures, to be suitably exploited for the next generation of adaptive robots. Both purely bio-inspired and engineered solutions will be reviewed.