Accession Number:

ADA289446

Title:

A Biologically-Inspired Autonomous Robot

Descriptive Note:

Performance rept.

Corporate Author:

CASE WESTERN RESERVE UNIV CLEVELAND OH

Personal Author(s):

Report Date:

1994-12-27

Pagination or Media Count:

4.0

Abstract:

The distributed nature of the stick insect leg coordination mechanisms permitted a straightforward implementation of reflexes for the negotiation of rough terrain in our second robot. Using a searching behavior based the work of Pearson and Franklin with the locust, the robot can also walk over slatted surfaces. Horizontal compliance was added to allow legs to comply with external disturbances by actively reducing the stiffness. In response to a sufficiently large horizontal disturbance, the legs exhibit a stepping behavior reminiscent of the stepping strategy reported by Zill in locust. In addition, when one leg of a walking robot is placed on a substrate that is stationary relative to the moving robot so that it does not step, the remaining legs continue to step due to the distributed nature of the controller. This experiment is analogous to one performed on the stick insect by Cruse and colleagues.

Subject Categories:

  • Cybernetics
  • Land and Riverine Navigation and Guidance

Distribution Statement:

APPROVED FOR PUBLIC RELEASE