平行リンク機構を用いた能動的なサンプリング範囲切り替えシステムの構築

―匂い源探索における効果検証―

抄録

An insects ability to discern information from scents is critical to their self-preservation efforts. Most insects establish this sensory awareness through their antennae. When searching for the source of a scent, they flick their antennae in response to environmental factors. This pattern can be replicated using robotics by adjusting sampling ranges accordingly when conducting odour searching experiments. For this research, odour sampling devices were designed that adjust sampling ranges automatically and analyse the effect of sampling ranges on robotic odour searching performance. Experiments were conducted with a custom-built robot equipped with odour sampling devices. Testing concluded that odour searching success rates were highest when sampling ranges were adjusted according to behaviour patterns as opposed to an invariable sampling range. This indicates that sampling ranges adjusted accordingly are more valuable in odour searching.