TY - JOUR
T1 - Architectures for a biomimetic hexapod robot
AU - Delcomyn, Fred
AU - Nelson, Mark E.
N1 - Funding Information:
This research has been supported in part by grant BCS 92-16562 from the National Science Foundation, grant N000149610657 from the Office of Naval Research, and grants from the Research Board of the University of Illinois. We also acknowledge the contributions of Narendra Ahuja and other current or former UIUC Hexapod Group members to the success of the project, particularly those of Jan Cocatre-Zilgien, Zhimin Ding, and John Hart.
Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 2000/1/31
Y1 - 2000/1/31
N2 - 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.
AB - 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.
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U2 - 10.1016/S0921-8890(99)00062-7
DO - 10.1016/S0921-8890(99)00062-7
M3 - Article
AN - SCOPUS:0033887617
SN - 0921-8890
VL - 30
SP - 5
EP - 15
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
IS - 1
ER -