Bacteria-inspired underactuated mobile robot based on a biological fluctuation

Surya G. Nurzaman, Yoshio Matsumoto, Yutaka Nakamura, Kazumichi Shirai, Hiroshi Ishiguro

Research output: Contribution to journalArticleResearchpeer-review

8 Citations (Scopus)


Interpretation of the living organism's ability to utilize noise from engineering point of view may be beneficial for realizing a simple, yet adaptive, robotic system. This paper presents a bacteria-inspired mobile robot, with a 1-DOF motor and a single sensor. Even with such limitations, the underactuated mobile robot is able to navigate toward a gradient-inducing goal in a two-dimensional space by properly utilizing environmental noise that directly affects its motion. The way the robot utilizes this external noise to control its navigation behavior is interpreted based on biological fluctuation: a simple perspective commonly used to describe how living beings utilize internally generated biological noises.

Original languageEnglish
Pages (from-to)225-236
Number of pages12
JournalAdaptive Behavior
Issue number4
Publication statusPublished - Aug 2012
Externally publishedYes


  • 1-DOF
  • bacteria
  • biological fluctuation
  • Mobile robot
  • navigation
  • noise

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