Insect Walking and Biorobotics: A Relationship with Mutual Benefits

  title={Insect Walking and Biorobotics: A Relationship with Mutual Benefits},
  author={Roy E. Ritzmann and Roger D. Quinn and J. T. Watson and Sasha N. Zill},
s 23: 1570. Schmitz J. 1993. Load-compe nsating reactions in the proximal leg joints of stick insects during standing and walking. Journal of Experimental 
Mechanical aspects of legged locomotion control.
We review the mechanical components of an approach to motion science that enlists recent progress in neurophysiology, biomechanics, control systems engineering, and non-linear dynamical systems toExpand
From Insect Sense Organs to Biomimetic Walking Robots [Exploratory DSP]
  • F. Delcomyn
  • Computer Science
  • IEEE Signal Processing Magazine
  • 2008
This article has pointed out several features of the sensory systems of insects that help these animals control their extraordinarily adaptable and agile locomotion on land and how engineers can incorporate these and other features of biological systems into walking robots. Expand
Insect Designs for Improved Robot Mobility
This paper reviews work performed in the Biorobotics Lab at Case Western Reserve University. Our goal is to use intelligent biological inspiration to develop robots with mobility approaching that ofExpand
Force Sensors in Hexapod Locomotion
This paper reviews the work on cockroaches using finite element analysis to model how loads are sensed and regulated in walking and climbing and suggests that the system can detect specific force vectors via sensors located in the leg and uses this information in positive load feedback to regulate walking movements. Expand
Development of a Legged Walking Robot Based on Jansen Kinetics
In this paper, the mechanism that can walk efficiently in wet land or sand area is proposed. A vision camera is attached to the mechanism, which makes a kind of biologically inspired robot for coastExpand
The design of novel robotic systems is a complex and challenging practice. The evolutionary process in nature can be of aid to engineers who study the background biological literature relating toExpand
Insect walking and robotics.
  • F. Delcomyn
  • Biology, Medicine
  • Annual review of entomology
  • 2004
This review outlines current knowledge of the physiological basis of insect walking with an emphasis on recent new developments in biomechanics and genetic dissection of behavior, and the impact this knowledge is having on robotics. Expand
RHex : A Biologically Inspired Hexapod Runner 1
RHex is an untethered, compliant leg hexapod robot that travels at better than one body length per second over terrain few other robots can negotiate at all. Inspired by biomechanics insights intoExpand
Biomimetic design and fabrication of a hexapedal running robot
An emerging layered-manufacturing technology is described that allows for the design and fabrication of a class of six-legged running robots based on biologically inspired functional principles with speed and robustness approaching the performance of small animals. Expand
RHex: A Biologically Inspired Hexapod Runner
Empirical data is presented establishing that RHex exhibits a dynamical (“bouncing”) gait, characteristic of a large and diverse group of running animals, when its central clock, body mass, and leg stiffnesses are appropriately tuned. Expand


Architectures for a biomimetic hexapod robot
A test leg is described that shows how sensory feedback can serve as the basis of the control system for the robot in order for it to achieve the degree of adaptability of locomotion over rough terrain exhibited by insects. Expand
Legged robots
Research on legged machines can lead to the construction of useful legged vehicles and help us to understand legged locomotion in animals.
Biorobotic approaches to the study of motor systems
A great deal of progress has recently been made in biorobotic studies of locomotion, orientation, and vertebrate arm control. Expand
The Tum-Walking Machine
The main features of kinematics, kinetic, and control which follow principally new findings in the area of neurobiological concepts of insect walking are presented. Expand
The cat step cycle: Hind limb joint angles and muscle lengths during unrestrained locomotion
A cinematographic analysis of the unrestrained walking, trotting, galloping, jumping and landing movements of 11 adult cats was undertaken to provide previously unavailable information concerning theExpand
Leg Coordination Mechanisms in the Stick Insect Applied to Hexapod Robot Locomotion
Three of the mechanisms believed to be responsible for leg coordination in the stick insect, Carausius morosus, are used to control the straight-line locomotion of a hexapod robot on a smoothExpand
What mechanisms coordinate leg movement in walking arthropods?
  • H. Cruse
  • Medicine, Psychology
  • Trends in Neurosciences
  • 1990
The construction of artificial walking machines has been a challenging task for engineers for several centuries. Advances in computer technology have stimulated this research in the past two decades,Expand
Biologically based distributed control and local reflexes improve rough terrain locomotion in a hexapod robot
An insect-like hexapod robot incorporating biologically based control effectively responded to mechanical perturbations using active and passive compliance and a local stepping reflex to address unexpected obstacles and loss of support. Expand
Posture control of a cockroach-like robot
  • G. Nelson, R. Quinn
  • Computer Science, Engineering
  • Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)
  • 1998
The posture controller for a new cockroach-like hexapod robot developed in the Bio-Robotics Laboratory at Case Western Reserve University does not just control static posture, but is the major component of a future locomotion controller. Expand
Design and simulation of a cockroach-like hexapod robot
The design and simulation of a cockroach-like hexapod robot which is under construction for the purpose of testing control principles which are being extracted from the cockroach are described. Expand