Architectures for a biomimetic hexapod robot

Research output: Contribution to journalArticlepeer-review


This paper describes a six-legged robot based on the features of an agile insect, the American cockroach, Periplaneta americana. The robot is designed with insect-like leg structure and placement, and actuators that mimic muscles. A test leg is also described that shows how sensory feedback can serve as the basis of the control system for the robot in order for it to achieve the degree of adaptability of locomotion over rough terrain exhibited by insects.

Original languageEnglish (US)
Pages (from-to)5-15
Number of pages11
JournalRobotics and Autonomous Systems
Issue number1
StatePublished - Jan 31 2000

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications


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