CUED Publications database

Task-level control of the lateral leg spring model of cockroach locomotion

Lee, J and Lamperski, A and Schmitt, J and Cowan, N (2006) Task-level control of the lateral leg spring model of cockroach locomotion. In: UNSPECIFIED UNSPECIFIED, pp. 167-188.

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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. © 2006 Springer.

Item Type: Book Section
Divisions: Div F > Computational and Biological Learning
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:26
Last Modified: 05 Sep 2017 01:51
DOI: 10.1007/978-3-540-36119-0_8