We have designed a bio-hybrid fly-robot interface (FRI) to study sensorimotor control in insects. The FRI consists of a miniaturized recording platform mounted on a two-wheeled robot and is controlled by the neuronal spiking activity of an identified visual interneuron, the blowfly H1-cell. For a given turning radius of the robot, we found a proportional relationship between the spike rate of the H1-cell and the relative distance of the FRI from the patterned wall of an experimental arena. Under closed-loop conditions during oscillatory forward movements biased towards the wall, collision avoidance manoeuvres were triggered whenever the H1-cell spike rate exceeded a certain threshold value. We also investigated the FRI behaviour in corners of the arena. The ultimate goal is to enable autonomous and energy-efficient manoeuvrings of the FRI within arbitrary visual environments.

中文翻译：

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一种执行主动碰撞避免的生物混合飞行机器人接口系统。

我们设计了一种生物混合型飞行机器人接口（FRI），以研究昆虫的感觉运动控制。FRI由安装在两轮机器人上的微型记录平台组成，并由已识别的视觉中枢神经元，即蝇H1细胞的神经元突加活动控制。对于给定的机器人转弯半径，我们发现H1单元的尖峰率与FRI距实验场的图案墙的相对距离之间成比例关系。在闭环条件下，在向壁偏斜的振荡向前运动期间，每当H1单元尖峰速率超过某个阈值时，就会触发避免碰撞动作。我们还研究了竞技场角落的FRI行为。