The Control of Turning in Real and Simulated Stick Insects
This paper describes a model for six-legged robot turning control based upon the stick insect (Carausius morosus). Ethological observations were made on freely walking stick insects turning towards a visual target. It was found that there is a tendency for the prothorax to move directly towards the object while the rear of the body mainly rotates. The front legs are proposed to shape most of the body trajectory, affecting the other thoracic segments such that it is not necessary to calculate individual leg trajectories for the middle or rear legs. A 3D dynamical robot simulation proved able to replicate complicated insect leg trajectories by means of this simple principle.
KeywordsVisual Target Thoracic Segment Joint Velocity Stick Insect Feedforward Controller
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