Task-level control of the lateral leg spring model of cockroach locomotion

J. Lee, A. Lamperski, J. Schmitt, N. Cowan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Scopus citations


The Lateral Leg Spring model (LLS) was developed by Schmitt and Holmes to model the horizontal-plane dynamics of a running cockroach. The model captures several salient features of real insect locomotion, and demonstrates that horizontal plane locomotion can be passively stabilized by a well-tuned mechanical system, thus requiring minimal neural reflexes. We propose two enhancements to the LLS model. First, we derive the dynamical equations for a more flexible placement of the center of pressure (COP), which enables the model to capture the phase relationship between the body orientation and center-of-mass (COM) heading in a simpler manner than previously possible. Second, we propose a reduced LLS "plant model" and biologically inspired control law that enables the model to follow along a virtual wall, much like antenna-based wall following in cockroaches.

Original languageEnglish (US)
Title of host publicationFast Motions in Biomechanics and Robotics
Subtitle of host publicationOptimazation and Feedback Control
EditorsMoritz Diehl, Katja Mombaur
Number of pages22
StatePublished - 2006

Publication series

NameLecture Notes in Control and Information Sciences
ISSN (Print)0170-8643


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