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

Abstract

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
Pages167-188
Number of pages22
DOIs
StatePublished - 2006

Publication series

NameLecture Notes in Control and Information Sciences
Volume340
ISSN (Print)0170-8643

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