Biologically based distributed control and local reflexes improve rough terrain locomotion in a hexapod robot

摘要

Distributed control and local leg reflexes enable insects to cope easily with terrain that would defeat many legged robots. An insect-like hexapod robot incorporating biologically based control effectively responded to mechanical perturbations using active and passive compliance and a local stepping reflex. An elevator reflex and a searching reflex addressed unexpected obstacles and loss of support, respectively. The robot exhibited a range of gaits using stick-insect-based distributed control mechanisms and negotiated irregular, slatted and compliant surfaces with this biologically based control strategy.