Architectures for a biomimetic hexapod robot

被引：85

作者：

Delcomyn, F

Nelson, ME

机构：

[1] Univ Illinois, Dept Entomol, Urbana, IL 61801 USA

[2] Univ Illinois, Program Neurosci, Urbana, IL 61801 USA

[3] Univ Illinois, Dept Mol & Integrat Physiol, Urbana, IL 61801 USA

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2000年 / 30卷 / 1-2期

基金：

美国国家科学基金会;

关键词：

walking robot; biomimetic robot; hexapod; cockroach;

D O I：

10.1016/S0921-8890(99)00062-7

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes a six-legged robot based on the features of an agile insect, the American cockroach, Periplaneta americana. The robot is designed with insect-like leg structure and placement, and actuators that mimic muscles. A test leg is also 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. (C) 2000 Elsevier Science B.V. All rights reserved.

引用

页码：5 / 15

页数：11

共 38 条

[11] HEXAPODAL GAITS AND COUPLED NONLINEAR OSCILLATOR MODELS [J].