# Usage of a Sensory-Motor Intervention System for Understanding the Adaptive Behavior of Insets
## 1 Introduction
Moreover, although the computational power of computers has increased dramatically with the development of integrated circuits, it is difficult to expect further improvements in computational power because the end of [PERSON]'s law, which predicts the number of transistors implemented in an integrated circuit [12], is in sight. Moreover, the scale of microcomputers that can be installed in a robot moving around in an unknown environment is limited, and global communication is not always possible. As an alternative, methods have been considered to reproduce the body structure and intelligence of living things through engineering [13] and incorporate biological materials into artificial systems [14]. In addition, research has been proposed to investigate the brain function of organisms using robots as a tool for analysis [15]. Of course, it is impossible to perfectly reproduce all the flexibility and agility of sensors and actuators in engineering an imitation of an organism. As a result, systems have been proposed that can incorporate gait patterns similar to animals [16] and localize an odor source in the outside environment [17], but because these are only partial imitations, they have not yet achieved performance comparable to that of organisms. To address this problem, cyborg research [18], which utilizes actual insects as robots, is gaining attention. Current cyborg research focuses on the utilization of insects as moving vehicles, and is thus established by having the operator control the insect's direction of movement. Insects are equipped with many sensory organs that cannot be imitated by artificial sensors, but current insect cyborgs do not benefit from the use of superior sensory organs. In addition, insects also age or vary from one individual to another, making it difficult to achieve uniform performance. However, among living organisms, more than one million species of insects that have small nervous systems [19] but can behave adaptively have been identified worldwide, and it is thought that there are up to several dozen times as many undiscovered insect species [20]. This suggests that insects have a way of adapting to diverse environments. In addition, an insect does not carry out all operations with its brain, but uses the body as part of its computing machines, thereby reducing the load on the brain [21; 22]. This is called embodied intelligence. In other words, an organism, including an insect, has a very good balance between the body (hardware) and brain (intelligence or software), and is a good example of the future relationship between robots and AI. An insect can accomplish a variety of tasks despite its small brain by making good use of embodied intelligence. For example, they have a variety of migratory strategies, such as walking, flying, and swimming, which are essential for survival [23; 24; 25]; navigation strategies that skillfully use multiple senses [26]; and swarming behavior that creates an insect society [27]. The size of insect brains cannot be compared because insect species vary in size. However, most insect brains are extremely small, only a few millimeters in size, despite their multifunctionality. Considering that robots accomplish tasks in real time, their processing power is very high, and it is conceivable that there is still much to be learned for designing economic and efficient autonomous robots. We focus on navigation among the tasks accomplished by an insect. While there are many types of navigation, such as using polarized light [28] or sound [29], we focus on navigation by using an odor. Navigation requires the insect to select appropriate actions based on environmental stimuli and to perceive the direction and distance it has traveled. The difficulty of navigation that dominates the use of odor is that the structure of odor is complex due to the influence of air dynamics. Moreover, not only is the odor structure constantly changing, but the complexity of the odor distribution is greatly increased by obstacles and other factors that interfere with the odor.