Insect-computer hybrid robot achieves a walking gait rarely seen in nature by replacing the anisotropic natural leg spines with isotropic artificial leg spines
This paper demonstrates that our developed beetle–computer hybrid legged robot achieves backward walk, which is impossible by intact beetles themselves in nature. Judging from the curvature of the natural leg spine, we hypothesized that the natural spine has an anisotropic function: the natural spin...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2021
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| Online Access: | https://hdl.handle.net/10356/150813 |
| _version_ | 1811689615515451392 |
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| author | Cao, Feng Sato, Hirotaka |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Cao, Feng Sato, Hirotaka |
| author_sort | Cao, Feng |
| collection | NTU |
| description | This paper demonstrates that our developed beetle–computer hybrid legged robot achieves backward walk, which is impossible by intact beetles themselves in nature. Judging from the curvature of the natural leg spine, we hypothesized that the natural spine has an anisotropic function: the natural spine would provide foot traction only in forward walk but not in backward. The hypothesis was verified as beetles hardly walk backward due to often slips. We then designed an artificial leg spine, which isotropically functions in walk: the foot traction was increased and slipless walk was achieved in both backward and forward walk with the artificial spines being implanted into the beetle legs. For these investigations, a wireless communication device, or “backpack,” was mounted and wired to a live beetle for electrically stimulating leg muscles to remotely modulate leg motions and to perform the forward and backward walk on demand. Overall, the beetle hybrid robot revealed the anisotropic function of the natural leg spine and also achieved the backward walk, which the intact beetle cannot intrinsically perform. |
| first_indexed | 2024-10-01T05:50:55Z |
| format | Journal Article |
| id | ntu-10356/150813 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:50:55Z |
| publishDate | 2021 |
| record_format | dspace |
| spelling | ntu-10356/1508132021-08-01T13:29:22Z Insect-computer hybrid robot achieves a walking gait rarely seen in nature by replacing the anisotropic natural leg spines with isotropic artificial leg spines Cao, Feng Sato, Hirotaka School of Mechanical and Aerospace Engineering Engineering::Mechanical engineering Biological Control Systems Biological Motor Systems This paper demonstrates that our developed beetle–computer hybrid legged robot achieves backward walk, which is impossible by intact beetles themselves in nature. Judging from the curvature of the natural leg spine, we hypothesized that the natural spine has an anisotropic function: the natural spine would provide foot traction only in forward walk but not in backward. The hypothesis was verified as beetles hardly walk backward due to often slips. We then designed an artificial leg spine, which isotropically functions in walk: the foot traction was increased and slipless walk was achieved in both backward and forward walk with the artificial spines being implanted into the beetle legs. For these investigations, a wireless communication device, or “backpack,” was mounted and wired to a live beetle for electrically stimulating leg muscles to remotely modulate leg motions and to perform the forward and backward walk on demand. Overall, the beetle hybrid robot revealed the anisotropic function of the natural leg spine and also achieved the backward walk, which the intact beetle cannot intrinsically perform. Ministry of Education (MOE) Nanyang Technological University The work was supported in part by the Nanyang Assistant Professorship (NAP, M4080740) and in part by the Singapore Ministry of Education under Grant MOE2013-T2-2-049 and Grant 2016-T1-002-156. 2021-08-01T13:29:22Z 2021-08-01T13:29:22Z 2019 Journal Article Cao, F. & Sato, H. (2019). Insect-computer hybrid robot achieves a walking gait rarely seen in nature by replacing the anisotropic natural leg spines with isotropic artificial leg spines. IEEE Transactions On Robotics, 35(4), 1034-1038. https://dx.doi.org/10.1109/TRO.2019.2903416 1552-3098 https://hdl.handle.net/10356/150813 10.1109/TRO.2019.2903416 2-s2.0-85065400522 4 35 1034 1038 en M4080740 MOE2013-T2-2-049 2016-T1-002-156 IEEE Transactions on Robotics © 2019 IEEE. All rights reserved. |
| spellingShingle | Engineering::Mechanical engineering Biological Control Systems Biological Motor Systems Cao, Feng Sato, Hirotaka Insect-computer hybrid robot achieves a walking gait rarely seen in nature by replacing the anisotropic natural leg spines with isotropic artificial leg spines |
| title | Insect-computer hybrid robot achieves a walking gait rarely seen in nature by replacing the anisotropic natural leg spines with isotropic artificial leg spines |
| title_full | Insect-computer hybrid robot achieves a walking gait rarely seen in nature by replacing the anisotropic natural leg spines with isotropic artificial leg spines |
| title_fullStr | Insect-computer hybrid robot achieves a walking gait rarely seen in nature by replacing the anisotropic natural leg spines with isotropic artificial leg spines |
| title_full_unstemmed | Insect-computer hybrid robot achieves a walking gait rarely seen in nature by replacing the anisotropic natural leg spines with isotropic artificial leg spines |
| title_short | Insect-computer hybrid robot achieves a walking gait rarely seen in nature by replacing the anisotropic natural leg spines with isotropic artificial leg spines |
| title_sort | insect computer hybrid robot achieves a walking gait rarely seen in nature by replacing the anisotropic natural leg spines with isotropic artificial leg spines |
| topic | Engineering::Mechanical engineering Biological Control Systems Biological Motor Systems |
| url | https://hdl.handle.net/10356/150813 |
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