André Frank Krause

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A systems approach to animal motor behavior reveals concepts that can be useful for the pragmatic design of walking machines. This is because the relation of animal behavior to its underlying nervous control algorithms bears many parallels to the relation of machine function to electronic control. Here, three major neuroethological concepts of motor(More)
We propose the stick insect antenna as a biological model for the study of the tactile sense and its active use in guiding leg movements. During walking, stick insects perform rhythmic antennal movements which are well-coordinated with leg movements. Antennal contact with an obstacle can lead to rapid adaptation of the ongoing leg movement, e.g. by(More)
Antennae are the main organs of the arthropod tactile sense. In contrast to other senses that are capable of retrieving spatial information, e.g. vision, spatial sampling of tactile information requires active movement of the sense organ. For a quantitative analysis of basic principles of active tactile sensing, we use a generic model of arbitrary antennae(More)
Tactile sensors (antennae) play an important role in the animal kingdom. They are also very useful as sensors in robotic scenarios, where vision systems may fail. Active tactile movements increase the sampling performance. Here we directly control movements of the antenna of a simulated hexapod using an echo state network (ESN). ESNs can store multiple(More)
Like many flightless, obligatory walking insects, the stick insect Carausius morosus makes intensive use of active antennal movements for tactile near range exploration and orientation. The antennal joints of C. morosus have a peculiar oblique and non-orthogonal joint axis arrangement. Moreover, this arrangement is known to differ from that in crickets(More)
In terrestrial locomotion, active touch sensing is an important source of near-range information. Walking stick insects show active tactile exploration behaviour by continuously sampling the ambient space with their antennae. Here, we identify central and proprioceptive contributions to the control of this behaviour. First, we investigate the potential role(More)
INSECTS CARRY A PAIR OF ANTENNAE ON THEIR HEAD: multimodal sensory organs that serve a wide range of sensory-guided behaviors. During locomotion, antennae are involved in near-range orientation, for example in detecting, localizing, probing, and negotiating obstacles. Here we present a bionic, active tactile sensing system inspired by insect antennae. It(More)
Many insects actively explore their near-range environment with their antennae. Stick insects (Carausius morosus) rhythmically move their antennae during walking and respond to antennal touch by repetitive tactile sampling of the object. Despite its relevance for spatial orientation, neither the spatial sampling patterns nor the kinematics of antennation(More)
Echo State Networks are a special class of recurrent neural networks, that are well suited for attractor-based learning of motor patterns. Using structural multi-objective optimization, the trade-off between network size and accuracy can be identified. This allows to choose a feasible model capacity for a follow-up full-weight optimization. Both(More)