Insects perform adaptive behavior according to changing environmental conditions using their small brains.
In a previous study, it was reported that silkmoth, Bombyx mori, could compensate for motor asymmetry and show
adaptive behavior in orientation to a pheromone source. In that study, silkmoths used visual cues to express adaptive
behavior in odor orientation. To understand neural processing in this adaptive behavior, we constructed a brain-machine
hybrid system using motor signals related to the steering behavior of a male silkmoth for controlling a mobile robot. We
developed this hybrid system according to the following steps. (1) For electrophysiological multi-unit recordings on a
robot, we developed small amplifiers. (2) We selected units that activated during neck swinging induced by optic flow
and pheromone stimuli as steering information. (3) To control a robot by neural activities, we set a spike-behavior
converter law that frequency of left and right neck motor neurons’ spikes was linearly converted into wheels’ rotation.
Using this hybrid system, we could observe the programmed behavioral pattern and orientation behavior to a pheromone
source. Moreover, we examined change in command information by arbitrarily steering a mobile robot. It was revealed
that command information was affected by visual input caused by self movement.
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