Bionic Limb Mechanism and Multi-Sensing Control for Cockroach Robots

In the past twenty years, robotics has undergone rapid development. Through the usage of new technologies and new materials, robots have found widespread applications in a variety of industry sectors. In contrast to traditional robots, a new branch of biologically inspired robots has emerged strongly. By studying biological systems like insects, robotics researchers strive to seek in-depth understanding of different kinds of bionic movement phenomena that exist in nature. The rolling of a wheel is regarded as a mode of motion with supreme efficiency, but it is only suitable for robot to move on a flat surface. Leg type locomotion is much more desired for a robot to transverse on a rugged topography, and is considered more superior than wheel type in rough terrain. Leg type is a common movement in nature, from human to insects, with similar walking modes. These biological systems do not roll, but have biped or myriapod alternate walk. In recent years, robotics researchers have shown special interests in insects, hoping to understand the mechanisms of leg type movement and its superior motion on rough terrains as opposed to wheel type movement. It is found that when running on a complex terrain, animals can adjust themselves to disturbances (Karalarli et al, 2004). This is hard for robot that walks with wheels to realize. In the dire situation of being caught, insects run away very swiftly to escape from the danger. They have extraordinary motion agility. A cockroach can run one step in 50 ms or at a velocity of 20cm/s. It can jump over an obstacle that is as high is as three times of its stature, without slowing down. It spooks quickly with very little response time. Cockroaches can move and run swiftly and smoothly no matter what terrains to transverse. Their movement smoothness, flexible self-control, and regulation ability have aroused researchers’ deep interests to seek the secret of the movement. Cockroach's control over its agile movement far exceeds high speed computer control in terms of response time and control functions. Scientists have failed to find satisfactory explanation about cockroach's supreme performance and control ability in adverse conditions. It is foreseen that overcoming this difficulty will be an important breakthrough for many correlative subjects, lead to the emergence of new research methods, and promote the development of intelligent robot technology to the benefit of humankind.