{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:53:39Z","timestamp":1777715619363,"version":"3.51.4"},"reference-count":16,"publisher":"SAGE Publications","issue":"9","license":[{"start":{"date-parts":[[1998,9,1]],"date-time":"1998-09-01T00:00:00Z","timestamp":904608000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1998,9]]},"abstract":"<jats:p>In this paper, the pheromone-oriented behavior of moths will be demonstrated by synthesis with biosensors and a small mobile robot that is controlled by recurrent neural networks. Since antennae on a silkworm moth are very sensitive as compared to conventional arti ficial gas sensors, they can be used as living gas sensors that detect pheromone molecules. A simple recurrent artificial neural network was used to control pheromone-tracing behavior in the manner of a living male silkworm moth. This neural network generates mothlike behavior while interacting with the environment. The turning behav ior, in particular, is a suitable tactic for small intelligence when a robot misses pheromone molecules. Our neural network is so simple that it can be very easily used as the controlling devices for micro- robots, which have a small amount of space for intelligence. Our robot is a hybrid system that combines living organisms and artificial machines, and is therefore a new type of robot.<\/jats:p>\n                  <jats:p>This approach has the advantage of a real-world experiment with biosensors instead of computer simulation. The difference between the real world and the simulation conditions yields a discrepancy in results. An additional discrepancy is generated by the sensor model. Therefore, real-world experiments with living antennae may provide a fascinating interface between computer simulation and neuroethology.<\/jats:p>","DOI":"10.1177\/027836499801700902","type":"journal-article","created":{"date-parts":[[2007,3,11]],"date-time":"2007-03-11T03:05:13Z","timestamp":1173582313000},"page":"924-933","source":"Crossref","is-referenced-by-count":47,"title":["A Pheromone-Guided Mobile Robot that Behaves like a Silkworm Moth with Living Antennae as Pheromone Sensors"],"prefix":"10.1177","volume":"17","author":[{"given":"Yoshihiko","family":"Kuwana","sequence":"first","affiliation":[{"name":"Department of Mechano-Informatics The University of Tokyo 7-3-1 Hongo, Bunkyo-ku, Tokyo 113, Japan"}]},{"given":"Isao","family":"Shimoyama","sequence":"additional","affiliation":[{"name":"Department of Mechano-Informatics The University of Tokyo 7-3-1 Hongo, Bunkyo-ku, Tokyo 113, Japan"}]}],"member":"179","published-online":{"date-parts":[[1998,9,1]]},"reference":[{"key":"atypb1","unstructured":"Arbas, E.A., Willis, M.A., and Kanzaki, R. 1993. Organization of goal-oriented locomotion: Pheromone-modulated flight behavior of moths. Biological Neural Networks in Invertebrate Neuroethology and Robotics, eds. R. D. Beer, R. E. Ritzmann, and T. McKenna. New York: Academic Press, pp. 159-198."},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1177\/027836499401300305"},{"issue":"2","key":"atypb3","first-page":"225","volume":"51","author":"Ishida, H.","year":"1996","journal-title":"Sensors and Actuators"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1016\/0924-4247(94)00829-9"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1007\/978-4-431-68355-1_337"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1007\/978-4-431-68355-1_348"},{"key":"atypb7","first-page":"1","volume":"175","author":"Kanzaki, R.","year":"1994","journal-title":"Bombyx mori. J. Comp. Physiology"},{"key":"atypb8","first-page":"515","volume":"9","author":"Kanzaki, R.","year":"1992","journal-title":"Zool. Science"},{"key":"atypb9","doi-asserted-by":"crossref","unstructured":"Kuwana, Y. , Shimoyama, I., and Miura, H. 1995 (5-9 Aug. Pittsburgh, PA). Steering control of a mobile robot using insect antennae. Proc. of the 1995 IEEE\/RSJ Int. Conf. on Intell. Robots and Systems Los Alamitos, CA: IEEE, pp. 530-535.","DOI":"10.1109\/IROS.1995.526267"},{"key":"atypb10","unstructured":"Kuwana, Y. Shimoyama, I., Sayama, Y., and Miura, H. 1996a (16-18 May 16, Nara, Japan). A robot that behaves like a silkworm moth in the pheromone stream. Proc. of the Art. Life V Cambridge, MA: MIT Press, pp. 370-376."},{"key":"atypb11","doi-asserted-by":"crossref","unstructured":"Kuwana, Y., Shimoyama, I., Sayama, Y., and Miura, H. 1996b (4-8 Nov. Osaka, Japan). Synthesis of pheromone-oriented emergent behavior of a silkworm moth. Proc. of the 1996 IEEE\/RSJ Int. Conf. on Intell. Robots and Systems Los Alamitos, CA: IEEE, pp. 1722-1729.","DOI":"10.1109\/IROS.1996.569043"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1038\/369142a0"},{"key":"atypb13","doi-asserted-by":"crossref","unstructured":"Russell, A., Thiel, D., Deveza, R., and Mackay-Sim, A. 1995. A robotic system to locate hazardous chemical leaks. Proc. of the 1995 IEEE Int. Conf. on Robot. and Automat New York: IEEE, pp. 556-560.","DOI":"10.1109\/ROBOT.1995.525342"},{"key":"atypb14","doi-asserted-by":"crossref","unstructured":"Russell, A., Thiel, D., and Mackay-Sim, A. 1994. Sensing odour trails for mobile robot navigation. Proc. of the 1994 IEEEInt. 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