TY - GEN
T1 - Task-level control of the lateral leg spring model of cockroach locomotion
AU - Lee, J.
AU - Lamperski, A.
AU - Schmitt, J.
AU - Cowan, N.
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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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U2 - 10.1007/978-3-540-36119-0_8
DO - 10.1007/978-3-540-36119-0_8
M3 - Conference contribution
AN - SCOPUS:34547194673
SN - 3540361189
SN - 9783540361183
T3 - Lecture Notes in Control and Information Sciences
SP - 167
EP - 188
BT - Fast Motions in Biomechanics and Robotics
A2 - Diehl, Moritz
A2 - Mombaur, Katja
ER -