具有用户可调节速度、步长和行走步态的昆虫-计算机混合腿式机器人。
Insect-computer hybrid legged robot with user-adjustable speed, step length and walking gait.
作者信息
Cao Feng, Zhang Chao, Choo Hao Yu, Sato Hirotaka
机构信息
School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore.
School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
出版信息
J R Soc Interface. 2016 Mar;13(116). doi: 10.1098/rsif.2016.0060.
We have constructed an insect-computer hybrid legged robot using a living beetle (Mecynorrhina torquata; Coleoptera). The protraction/retraction and levation/depression motions in both forelegs of the beetle were elicited by electrically stimulating eight corresponding leg muscles via eight pairs of implanted electrodes. To perform a defined walking gait (e.g., gallop), different muscles were individually stimulated in a predefined sequence using a microcontroller. Different walking gaits were performed by reordering the applied stimulation signals (i.e., applying different sequences). By varying the duration of the stimulation sequences, we successfully controlled the step frequency and hence the beetle's walking speed. To the best of our knowledge, this paper presents the first demonstration of living insect locomotion control with a user-adjustable walking gait, step length and walking speed.
我们利用一只活体甲虫（巨叉犀金龟；鞘翅目）构建了一个昆虫-计算机混合腿式机器人。通过八对植入电极对甲虫前腿的八块相应腿部肌肉进行电刺激，引发甲虫前腿的伸展/收缩和抬起/下压动作。为了执行特定的行走步态（例如，疾驰），使用微控制器按照预定义的顺序分别刺激不同的肌肉。通过重新排列施加的刺激信号（即应用不同的顺序）来执行不同的行走步态。通过改变刺激序列的持续时间，我们成功地控制了步频，从而控制了甲虫的行走速度。据我们所知，本文首次展示了对活体昆虫运动的控制，其行走步态、步长和行走速度均可由用户调节。
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