A robot leg with compliant tarsus and its neural control for efficient and adaptive locomotion on complex terrains

摘要

Insects, like dung beetles, show fascinating loco-motor abilities. They can use their legs to walk on complex terrains (e.g., rocky and curved surfaces) and to manipulate objects. They also exploit their compliant tarsi, increasing the contact area between the legs and surface, to enhance locomotion, and object manipulation efficiency. Besides these biomechanical components, their neural control allows them to move at a proper frequency with respect to their biomechanical properties and to quickly adapt their movements to deal with environmental changes. Realizing these complex achievements on artificial systems remains a grand challenge. As a step towards this direction, we present here our first prototype of an artificial dung beetle-like leg with compliant tarsus by analyzing real dung beetle legs through μCT scans. Compliant tarsus was designed according to the so-called fin ray effect. Real robot experiments show that the leg with compliant tarsus can efficiently move on rocky and curved surfaces. We also apply neural control, based on a central pattern generator (CPG) circuit and synaptic plasticity, to autonomously generate a proper moving frequency of the leg. The controller can also adapt the leg movement to deal with environmental changes, like different treadmill speeds, within a few steps.