Construction of a Hexapod Robot with Cockroach Kinematics Benefits both Robotics and Biology

Any device that moves by actuating several multi-segmented legs must solve fundamental problems in mechanics and control regardless of whether that device is made out of living tissue or metal. With this in mind, we believe that advances can be made both in the design of legged robots and in understanding how legged animals locomote by working on these issues in tandem. This basic philosophy has led us to build a hexapod robot with kinematics that are remarkably similar to those of the death head cockroach Blaberus discoidalis. This eþ ort has required us to make detailed neurobiological and kinematic observations of cockroaches walking on a treadmill and climbing over barriers. The data acquired in this way were then input to our dynamic simulation tool to determine mechanically accurate parameters for the design of the robot. The resulting vehicle captures the cockroach kinematics so well that issues that are being addressed in controlling it are providing important notions regarding the neural control of locomotion in the animal. Thus, the project has led to bene® ts in both directions. B iological data inspired the initial design of the robot, while engineering eþ orts in control are inspiring further neurobiological experiments in animal locomotion.