A Dung Beetle-like Leg and its Adaptive Neural Control

Publication: Research - peer-reviewArticle in proceedings

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Dung beetles show fascinating locomotion abilities. They can use their legs to not only walk but also manipulate objects. Furthermore, they can perform their leg movements at a proper frequency with respect to their biomechanical properties and quickly adapt the movements to deal with external perturbations. Understanding the principles of their biomechanics and neural computation and transferring them to artificial systems remain a grand challenge. According to
this, we present here a first prototype of a real dung beetle-like leg developed by analyzing real dung beetle legs through micoCT scans. We also apply adaptive neural control, based on a central pattern generator (CPG) circuit with synaptic plasticity, to autonomously generate a proper stepping frequency of the leg. The controller can also adapt the leg movement to deal with external perturbations within a few steps.
Original languageEnglish
Title of host publicationProceedings of the First International Symposium on Swarm Behavior and Bio-Inspired Robotics
Number of pages4
PublisherSWARM
Publication date2016
StatePublished - 2016
Event1st International Symposium on Swarm Behavior and Bio-Inspired Robotics - Kyoto, Japan

Conference

Conference1st International Symposium on Swarm Behavior and Bio-Inspired Robotics
Nummer1
LandJapan
ByKyoto
Periode26/10/201528/10/2015

Bibliographical note

Published on USB

    Keywords

  • Locomotion control, Neural control, Embodied learning, Dung beetle, Insects