Leaphy Robot
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| Leaphy robot with subsumption architecture | |
|---|---|
| Participants | |
| Skills | software hardware electronics biology |
| Status | Active |
| Niche | robotics |
| Purpose | Fun |
| Tool | No |
| Location | Space, home |
| Cost | Very small given what is already present and what is available in the space (everything!!) |
| Tool category | Electronics |
Leaphy robot with subsumption architecture
Leaphy back side view.jpg {{#if:No | [[Tool Owner::{{{ProjectParticipants}}} | }} {{#if:No | [[Tool Cost::Very small given what is already present and what is available in the space (everything!!) | }}
Electronic insect-like creature
Physiological, Behavioural & environmental overview
peterr 2022- 2025
Document history
- September 2025 subsumption architecture design
- August 2025 Documentation for scheduler
- March 2023 Draft version 0.2 - terminology cleanup and scope
- Februari 2023 Draft version 0.1
- December 2022 Partial documentation/brainstorming
- November 2022 First document sketches & ideas
Project
The insect like creature (based on the leaphy robot) has a set of functionalities that together allow it to effectively find, and feed on targets that provides electricity as a reward. Learning strategies to improve succes rate can be implemented. Sexual signaling, event prediction, mating behaviour, genetic exchange and evolution are in principle possible but are currently still (far) out of scope.
Sensory physiology and "milieu interieur"
Sensory inputs =
- Mechanoreceptor - sensing of obstacles
- Micro switch based tactile hairs.
- Development status: Not yet implemented
- Mechanoreceptor - sensing of obstacles
- Ultrasound - Distance sensing of obstacles
- Ultrasonic pulses detect obstacles and can trigger reflex avoidance behaviour
- Development status: Operational
- Ultrasound - Distance sensing of obstacles
- Better directional responses would be possible with more than one US sensor.
- This would need a dedicated embedded processor.
- Status: Not yet implemented
- Sensing light intensity
- Two LDR photoreceptors measure front-left light level and front-right light level
- Total ambient light intensity is available as an analog voltage
- The difference between the inputs is also available, and signals what side to turn to, to approach or avoid the light.
- Development status: Operational
- Sensing light intensity
- Sensing sound (audio)
- A subunit with its own processor containing an Electret microphone to measure ambiant sound level, frequency and sound patterns.
- Can also be used in classical and operant leaning experiments Detect both absolute sound level (for startle or avoidance resposes) or feature
- detectors (e.g. chirp intervals for leafhopper like communcication and courting behaviour of two leaphy's.
- In addition, an Audeme Movi speech recognition shield (see https://www.audeme.com/movi.html) could be used to process voice commands
- Development status: Not yet implemented, but Movi shield "proof of concept" done
- Sensing sound (audio)
- PIR movement sensor
- In addition to light intensity, an infra red motion sensors can be used to detect movements (humans, or the cat for that matter) see for instance https://www.adafruit.com/product/4871
- 'Development status: Not yet implemented
- PIR movement sensor