Robots Race Ahead - On Cockroach Legs

Roboticists are constantly trying to improve the stability of bipedal robots. At the University of Michigan, they are studying an unlikely source of graceful recovery when shoved off-balance - the cockroach.


(Cockroaches help robots stay balanced)

In experiments, the roaches were able to maintain their footing mechanically—using their momentum and the spring-like architecture of their legs, rather than neurologically, relying on impulses sent from their central nervous system to their muscles.

"The response time we observed is more than three times longer than you'd expect," said Shai Revzen, an assistant professor of electrical engineering and computer science, as well as ecology and evolutionary biology, at the University of Michigan. Revzen is the lead author of a paper on the findings published online in Biological Cybernetics. It will appear in a forthcoming print edition.

"What we see is that the animals' nervous system is working at a substantial delay," he said. "It could potentially act a lot sooner, within about a thirtieth of a second, but instead, it kicks in after about a step and a half or two steps—about a tenth of a second. For some reason, the nervous system is waiting and seeing how it shapes out."

To arrive at their findings, the researchers sent 15 cockroaches (one-by-one, in 41 trials) running across a small bridge onto a placemat-sized cart on wheels. The cart was attached to an elastic cord that was pulled tight like a loaded slingshot and held in place with a strong magnet on the other side. Once a roach was about a body length onto the cart, the researchers released the magnet, sending the cart hurling sideways. The force was equivalent to a sumo wrestler hitting a jogger with a flying tackle, said Revzen, adding that cockroaches are much more stable than humans.

To gather detailed information about the roaches' gait, the researchers utilized a technique Revzen developed several years ago called kinematic phase analysis. It involves using a high-speed camera to constantly measure the position of each of the insects' six feet as well as the ends of its body. A computer program then merges the continuous data from all these points into an accurate estimate of where the roach is in its gait cycle at all times. The approach gives scientists a more detailed picture than just measuring the timing of footfalls—a common metric used today to study gait.

SF writers have long relied on insect biomimicry for robotic models; see the spider robots (with video) from Michael Crichton's 1985 movie Runaway for a taste.

You might compare the efforts of UM's team with these biologically accurate robot walking legs (with video) based on human, not roach, anatomy. See also the Phasma insect robot video that shows a properly scuttling insectile gait robot.

From the University of Michigan.

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