Task-Level Control of the Lateral Leg Spring Model of Cockroach Locomotion
- Creators
- Lee, J.
- Lamperski, A.
- Schmitt, J.
- Cowan, N.
- Others:
- Diehl, Moritz
- Mombaur, Katja
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.
Additional Information
© 2006 Springer.Additional details
- Eprint ID
- 24420
- Resolver ID
- CaltechAUTHORS:20110714-100921034
- Created
-
2011-07-21Created from EPrint's datestamp field
- Updated
-
2021-11-09Created from EPrint's last_modified field
- Series Name
- Lecture notes in control and information sciences
- Series Volume or Issue Number
- 340