The Steering Jump Control of a Locust Bio‐Robot via Asynchronous Hindleg Kickings
The locust's steering behavior has long been thought to be achieved under the control of fore‐ and mesothoracic legs before takeoff. This turning strategy is not necessarily present in all steering jumps. It is found that the locust could achieve a large‐angle steering jump without significant...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2022-09-01
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| Series: | Advanced Intelligent Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1002/aisy.202200082 |
| _version_ | 1828143417140445184 |
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| author | Songsong Ma Bing Li Yao Li |
| author_facet | Songsong Ma Bing Li Yao Li |
| author_sort | Songsong Ma |
| collection | DOAJ |
| description | The locust's steering behavior has long been thought to be achieved under the control of fore‐ and mesothoracic legs before takeoff. This turning strategy is not necessarily present in all steering jumps. It is found that the locust could achieve a large‐angle steering jump without significant yaw rotation beforehand. Herein, how the hindlegs contribute to the steering jump, including kinematic analyses and reaction forces measurement, is studied. It is found that the contralateral hindleg of the turn direction presses down tens of milliseconds earlier than the ipsilateral side. The time lag between both hindlegs is primarily responsible for the steering jumps. The leg kickings with a time lag is induced exogenously by designing sequential electrical stimulation signals for the muscles of both legs. Under 0‐ms, 20‐ms, and 40‐ms time lags, the induced steering angles are 2.1°, 22.1°, and 24.2°, respectively, in the loosely tethered jumps. A locust is transformed into a bio‐robot via a custom e‐backpack and demonstrate a remote‐controlled 20° jump of the bio‐robot. The asynchronous actions of bilateral actuators for steering jumps are extremely beneficial for micro‐robots, as both the jumping and the steering functions can be compacted together. |
| first_indexed | 2024-04-11T19:55:45Z |
| format | Article |
| id | doaj.art-53c3a5e794df42eebba296928d176091 |
| institution | Directory Open Access Journal |
| issn | 2640-4567 |
| language | English |
| last_indexed | 2024-04-11T19:55:45Z |
| publishDate | 2022-09-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj.art-53c3a5e794df42eebba296928d1760912022-12-22T04:06:00ZengWileyAdvanced Intelligent Systems2640-45672022-09-0149n/an/a10.1002/aisy.202200082The Steering Jump Control of a Locust Bio‐Robot via Asynchronous Hindleg KickingsSongsong Ma0Bing Li1Yao Li2School of Mechanical Engineering and Automation Harbin Institute of Technology, Shenzhen Shenzhen 518055 ChinaSchool of Mechanical Engineering and Automation Harbin Institute of Technology, Shenzhen Shenzhen 518055 ChinaSchool of Mechanical Engineering and Automation Harbin Institute of Technology, Shenzhen Shenzhen 518055 ChinaThe locust's steering behavior has long been thought to be achieved under the control of fore‐ and mesothoracic legs before takeoff. This turning strategy is not necessarily present in all steering jumps. It is found that the locust could achieve a large‐angle steering jump without significant yaw rotation beforehand. Herein, how the hindlegs contribute to the steering jump, including kinematic analyses and reaction forces measurement, is studied. It is found that the contralateral hindleg of the turn direction presses down tens of milliseconds earlier than the ipsilateral side. The time lag between both hindlegs is primarily responsible for the steering jumps. The leg kickings with a time lag is induced exogenously by designing sequential electrical stimulation signals for the muscles of both legs. Under 0‐ms, 20‐ms, and 40‐ms time lags, the induced steering angles are 2.1°, 22.1°, and 24.2°, respectively, in the loosely tethered jumps. A locust is transformed into a bio‐robot via a custom e‐backpack and demonstrate a remote‐controlled 20° jump of the bio‐robot. The asynchronous actions of bilateral actuators for steering jumps are extremely beneficial for micro‐robots, as both the jumping and the steering functions can be compacted together.https://doi.org/10.1002/aisy.202200082asynchronous hindleg kickingsco-contraction controllocust bio-robotsequential electrical stimulationsteering jump mechanism |
| spellingShingle | Songsong Ma Bing Li Yao Li The Steering Jump Control of a Locust Bio‐Robot via Asynchronous Hindleg Kickings Advanced Intelligent Systems asynchronous hindleg kickings co-contraction control locust bio-robot sequential electrical stimulation steering jump mechanism |
| title | The Steering Jump Control of a Locust Bio‐Robot via Asynchronous Hindleg Kickings |
| title_full | The Steering Jump Control of a Locust Bio‐Robot via Asynchronous Hindleg Kickings |
| title_fullStr | The Steering Jump Control of a Locust Bio‐Robot via Asynchronous Hindleg Kickings |
| title_full_unstemmed | The Steering Jump Control of a Locust Bio‐Robot via Asynchronous Hindleg Kickings |
| title_short | The Steering Jump Control of a Locust Bio‐Robot via Asynchronous Hindleg Kickings |
| title_sort | steering jump control of a locust bio robot via asynchronous hindleg kickings |
| topic | asynchronous hindleg kickings co-contraction control locust bio-robot sequential electrical stimulation steering jump mechanism |
| url | https://doi.org/10.1002/aisy.202200082 |
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