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.
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© 2006 Springer
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Lee, J., Lamperski, A., Schmitt, J., Cowan, N. (2006). Task-Level Control of the Lateral Leg Spring Model of Cockroach Locomotion. In: Diehl, M., Mombaur, K. (eds) Fast Motions in Biomechanics and Robotics. Lecture Notes in Control and Information Sciences, vol 340. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-36119-0_8
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DOI: https://doi.org/10.1007/978-3-540-36119-0_8
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-36118-3
Online ISBN: 978-3-540-36119-0
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