Controlled interaction with the cricket based on on-line pose estimation of mobile robot

This paper describes an automated interaction for triggering the cricket´s pheromone behavior by controlling a micro mobile robot based on pose estimation. In our developing systems a micro mobile robot : Ecobe mounted a cricket s head is introduced as a physical agent to interact with the cricket. Both of location of the cricket and mobile robot is estimated by on-line particle filter based color tracking and the pose estimation is also done by utilizing visual processing. By utilizing extracted information and novel designed robot´s behavior algorithm, automated experimental trials in interaction between a cricket and a micro mobile robot has been done. Experimental results by utilizing our prototype system are also reported in this paper. Finally, pose estimation was also applied to the cricket and we show the result of fundamental trial of that.