scholarly journals Locomotion Control for Legged Robot by Virtual Contact Impedance Method

10.5772/15001 ◽  
2011 ◽  
Author(s):  
Fumiaki Takemori
Keyword(s):  
Impedance Method ◽  
Legged Robot ◽  
Locomotion Control ◽  
Contact Impedance

scholarly journals Insect–computer hybrid legged robot with user-adjustable speed, step length and walking gait

2016 ◽  
Vol 13 (116) ◽  
pp. 20160060 ◽  
Author(s):  
Feng Cao ◽  
Chao Zhang ◽  
Hao Yu Choo ◽  
Hirotaka Sato
Keyword(s):  
Walking Speed ◽  
Step Length ◽  
Legged Robot ◽  
Step Frequency ◽  
Locomotion Control ◽  
Insect Locomotion ◽  
Implanted Electrodes ◽  
Walking Gait ◽  
Leg Muscles ◽  
Adjustable Speed

We have constructed an insect–computer hybrid legged robot using a living beetle ( Mecynorrhina torquata ; Coleoptera). The protraction/retraction and levation/depression motions in both forelegs of the beetle were elicited by electrically stimulating eight corresponding leg muscles via eight pairs of implanted electrodes. To perform a defined walking gait (e.g. gallop), different muscles were individually stimulated in a predefined sequence using a microcontroller. Different walking gaits were performed by reordering the applied stimulation signals (i.e. applying different sequences). By varying the duration of the stimulation sequences, we successfully controlled the step frequency and hence the beetle's walking speed. To the best of our knowledge, this paper presents the first demonstration of living insect locomotion control with a user-adjustable walking gait, step length and walking speed.

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