Skip to search formSkip to main contentSkip to account menu

Highly mobile and robust small quadruped robots

This paper describes novel highly mobile small robots called "mini-whegs" that can run and jump. They are derived from our larger whegs series of robots, which benefit from abstracted cockroach…
View on IEEE (opens in a new tab)

Biologically inspired approaches to robotics: what can we learn from insects?

View on ACM (opens in a new tab)

Characterization of obstacle negotiation behaviors in the cockroach, Blaberus discoidalis

Sensors involved in the complex control of obstacle negotiation behaviors in the cockroach Blaberus discoidalis were characterized to examine the role of sensory involvement in path selection.
View on Publisher (opens in a new tab)

Central-Complex Control of Movement in the Freely Walking Cockroach

View on Elsevier (opens in a new tab)

Leg kinematics and muscle activity during treadmill running in the cockroach, Blaberus discoidalis : I. Slow running

The average firing frequencies of slow depressor coxa (Ds) and slow extensor tibia (SETi) motor neurons are directly proportional to the average angular velocity of their joints during stance, and the average Ds and SETi firing frequency appears to be modulated on a cycle-by-cycle basis to control running speed and orientation.
View on Springer (opens in a new tab)

Improved mobility through abstracted biological principles

A hexapod robot called Whegs I is described, which uses one motor for propulsion and two small servos for steering to move over various terrains and climb over small obstacles in a manner similar to a cockroach.
View on IEEE (opens in a new tab)

Control of obstacle climbing in the cockroach, Blaberus discoidalis. I. Kinematics

The structure of proximal leg joints allows for flexibility in leg use by generating subtle, but effective changes in the direction of leg movement, which provides a range of strategies for both animals and walking machines.
View on Springer (opens in a new tab)

Abstracted biological principles applied with reduced actuation improve mobility of legged vehicles

A bidirectional servo-driven body flexion joint has been implemented in Whegs II, which benefits from abstracted cockroach locomotion principles and has just one motor for propulsion and is shown to be highly mobile and energetic.
View on IEEE (opens in a new tab)

A Cockroach Inspired Robot With Artificial Muscles

In an attempt to further take advantage of the neuromechanics of the animal, actuators with muscle-like properties have been employed that demonstrate a superior force to weight ratio over conventional actuation devices.
View on IEEE (opens in a new tab)

Kinematics and motor activity during tethered walking and turning in the cockroach, Blaberus discoidalis

The distinct inter-joint and inter-leg coordination between tethered turning and walking provides a good model to further study the neural control of changing locomotion patterns.
View on Springer (opens in a new tab)
...
By clicking accept or continuing to use the site, you agree to the terms outlined in our Privacy Policy (opens in a new tab), Terms of Service (opens in a new tab), and Dataset License (opens in a new tab)