Nicholas S. Szczecinski

Learn More
A neuromechanical simulation of the cockroach Blaberus discoidalis was developed to explore changes in locomotion when the animal transitions from walking straight to turning. The simulation was based upon the biological data taken from three sources. Neural circuitry was adapted from the extensive literature primarily obtained from the studies of neural(More)
We present a serial design process with associated tools to select parameter values for a posture and locomotion controller for simulation of a robot. The controller is constructed from dynamic neuron and synapse models and simulated with the open-source neuromechanical simulator AnimatLab 2. Each joint has a central pattern generator (CPG), whose neurons(More)
A dynamical model of an animal's nervous system, or synthetic nervous system (SNS), is a potentially transformational control method. Due to increasingly detailed data on the connectivity and dynamics of both mammalian and insect nervous systems, controlling a legged robot with an SNS is largely a problem of parameter tuning. Our approach to this problem is(More)
We previously developed a neural controller for one leg of our six-legged robot, MantisBot, that could direct locomotion toward a goal by modulating leg-local reflexes with simple descending commands from a head sensor. In this work, we successfully apply an automated method to tune the control network for all three pairs of legs of our hexapod robot(More)
We present MantisBot, a 28 degree of freedom robot controlled by a high-fidelity neural simulation. It is modeled after the mantis, with many degrees of freedom, because we intend to study directed behaviors and leg multi-functionality, such as prey tracking and striking. As a first step, we present a distributed reflexive posture controller. MantisBot(More)
Insects use highly distributed nervous systems to process exteroception from head sensors, compare that information with state-based goals, and direct posture or locomotion toward those goals. To study how descending commands from brain centers produce coordinated, goal-directed motion in distributed nervous systems, we have constructed a conductance-based(More)
*We also certify that written approval has been obtained for any proprietary material contained within. Figure 2 – Microscopic photographs of severed cockroach legs (left) for comparison to triangulated meshes (right) used in simulation.. Figure 3 – Mechanical equivalent model to the linear Hill muscle model (top). Length-tension relationship that limits(More)