Insect walking and biorobotics: A relationship with mutual benefits

BioScience

Volumn 50, Issue 1, 2000, Pages 23-33

  Ritzmann, Roy E ^a   Quinn, Roger D ^b   Watson, James T ^a   Zill, Sasha N ^c  

^a CASE WESTERN RESERVE UNIVERSITY SCHOOL OF MEDICINE   (United States)

^b Case Western Reserve University   (United States)

^c MARSHALL UNIVERSITY SCHOOL OF MEDICINE   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

INSECTA;

EID: 0033987593     PISSN: 00063568     EISSN: None     Source Type: Journal    
DOI: 10.1641/0006-3568(2000)050[0023:IWABAR]2.3.CO;2     Document Type: Review

References (60)

1. Bässler U, Büschges A. 1998. Pattern generation for stick insect walking movements - multisensory control of a locomotor program. Brain Research 27:65-88.
2. Beer RD, Chiel HJ, Quinn RD, Espenschied K, Larsson P. 1992. A distributed neural net architecture for hexapod robot locomotion. Pages 356-365 in Brooks R, ed. Neural Computation. Vol. 4. Cambridge (MA): MIT Press.
3. Beer RD, Chiel HJ, Quinn RD, Ritzmann RE. 1998. Biorobotics approaches to the study of motor systems. Current Opinion in Neurobiology 8: 777-782.
4. Biewener AA, Baudinette RV. 1995. In vivo muscle force and elastic energy storage during steady-speed hopping of Tamar wallabies (Macropus eugenii). Journal of Experimental Biology 198: 1829-1841.
5. Burrows M. 1996. The Neurobiology of an Insect Brain. Oxford: Oxford University Press.
6. Cavagna GA. 1970. Elastic bounce of the body. Journal of Applied Physiology 29: 279-282.
7. Chesler M, Fourtner CR. 1981. Mechanical properties of a slow muscle in the cockroach. Journal of Neurobiology 12: 391-402.
8. Chou C, Hannaford B. 1996. Measurement and modeling of McKibben pneumatic artificial muscles. IEEE Transactions on Robotics and Automation 12:90-102.
9. Cruse H. 1990. What mechanisms coordinate leg movement in walking arthropods? Trends in Neuroscience 13: 15-21.
10. Delcomyn F. 1971. The locomotion of the cockroach Periplaneta americana. Journal of Experimental Biology 54: 443-452.
11. _. 1973. Motor activity during walking in the cockroach Periplaneta americana. I. Free walking. Journal of Experimental Biology 148: 629-642.
12. _. 1987. Motor activity during searching and walking movements of cockroach legs. Journal of Experimental Biology 133: 111-120.
13. Delcomyn F, Nelson ME. In press. Architectures for a biomimetic hexapod robot. Robotics and Autonomous Systems.
14. Delcomyn F, Nelson ME, Cocatre-Zilgien JH. 1996. Sense organs of insect legs and the selection of sensors for agile walking robots. International Journal of Robotics Research 15: 113-127.
15. Espenschied KS, Quinn RD, Chiel HJ, Beer RD. 1993. Leg coordination mechanisms in stick insect applied to hexapod robot locomotion. Adaptive Behavior 1: 455-468.
16. _. 1996. Biologically-based distributed control and local reflexes improve rough terrain locomotion in a hexapod robot. Robotics and Autonomous Systems 18: 59-64.
17. Field LH, Matheson T. 1998. Chordotonal Organs of Insects. Advances in Insect Physiology, Vol. 27. New York: Academic Press.
18. Full RJ, Tu MS. 1990. Mechanics of six-legged runners. Journal of Experimental Biology 148: 129-146.
19. Full RJ, Blickhan R, Ting LH. 1991. Leg design in hexapedal runners. Journal of Experimental Biology 158: 369-390.
20. Full RJ, Stokes DR, Ahn AN, Josephson RK. 1998. Energy absorption during running by leg muscles in a cockroach. Journal of Experimental Biology 201: 997-1012.
21. Goslow GE, Reinking RM, Stuart DG. 1973. The cat step cycle: Hind limb joint angles and muscle lengths during unrestrained locomotion. Journal of Morphology 141: 1-42.
22. Horak FB, Macpherson JM. 1996. Postural orientation and equilibrium. Pages 255-292 in Rowell LP, Shephard JT, eds. Handbook of Physiology. New York: Oxford University Press.
23. Hughes GM. 1952. The co-ordination of insect movements. I. The walking movements of insects. Journal of Experimental Biology 29: 267-284.
24. Jindrich DL, Full RJ. 1998. Many-legged maneuverability: Dynamics of turning in hexapods. Congress of Neuroethology 5: 178.
25. Kornbluh R, Pelrine R, Eckerle J, Joseph J. 1998. Electrostrictive polymer artificial muscle actuators. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '98). New York: The Institute of Electrical and Electronics Engineers, Inc.
26. Larsen GS, Frazier SF, Zill SN. 1997. The tarso-pretarsal chordotonal organ as an element in cockroach walking. Journal of Comparative Physiology A, Sensory, Neural and Behavioral Physiology 180: 683-700.
27. Nelson GM, Quinn RD. 1995. A Lagrangian formulation in terms of quasicoordinates for dynamic simulations of multibody systems such as insects and robots. Proceedings of the 1995 ASME International Mechanical Engineering Congress and Exposition (IMECE 1995). New York: American Society of Mechanical Engineers.
28. _. 1998. Posture control of a cockroach-like robot. Proceedings of the 1998. IEEE International Conference on Robotics and Automation (ICRA '98). New York: The Institute of Electrical and Electronics Engineers, Inc.
29. _. 1999. Posture control of a cockroach-like robot. IEEE Control Systems 19: 9-14.
30. Nelson GM, Quinn RD, Bachmann RJ, Flannigan WC, Ritzmann RE, Watson JT. 1997. Design and simulation of a cockroach-like hexapod robot. Proceedings of the 1997 IEEE International Conference on Robotics and Automation (ICRA '97). New York: The Institute of Electrical and Electronics Engineers, Inc.
31. Nye SW, Ritzmann RE. 1992. Motion analysis of leg joints associated with escape turns of the cockroach, Periplaneta americana. Journal of Comparative Physiology A Sensory, Neural and Behavioral Physiology 171: 183-194.
32. Pearson KG. 1972. Central programming and reflex control of walking in the cockroach. Journal of Experimental Biology 56: 173-193.
33. _. 1993. Common principles of motor control in vertebrates and invertebrates. Annual Review of Neuroscience 16: 265-297.
34. Pearson KG, Collins DF. 1993. Reversal of the influence of group Ib afferents from plantaris on activity in medial gastrocnemius muscle during locomotor activity. Journal of Neurophysiology 70: 1009-1017.
35. Pearson KG, Franklin R. 1984. Characteristics of leg movements and patterns of coordination in locusts walking on rough terrain. International Journal of Robotics Research 3: 101-112.
36. Pearson KG, Iles JF. 1970. Discharge patterns of coxal levator and depressor motoneurones of the cockroach, Periplaneta americana. Journal of Experimental Biology 52: 139-165.
37. _. 1971. Innervation of coxal depressor muscle in the cockroach, Periplaneta americana. Journal of Experimental Biology 54: 215-232.
38. Pearson KG, Ramirez J-M. 1997. Sensory modulation of pattern-generating circuits. Pages 225-236 in Stein PSG, Grillner S, Selverston AI, Stuart DG, eds. Neurons, Networks, and Motor Behavior. Cambridge (MA): MIT Press.
39. Pfeiffer F, Eltze J, Weidemann HJ. 1994. The TUM walking machine. Pages 307-323 in Jamshidi M, Nguyen C, Lumia R, Yuh J, eds. Intelligent Automation and Soft Computing, Vol. 2. Albuquerque (NM): TSI Press.
40. Pratt J, Dilworth P, Pratt G. 1997. Virtual model control of a bipedal walking robot. Proceedings of the 1997 IEEE International Conference on Robotics and Automation (ICRA '97). New York: The Institute of Electrical and Electronics Engineers, Inc.
41. Prilutsky BI, Herzog W, Allinger TL. 1996. Mechanical power and work of cat soleus, gastrocnemius and plataris muscles during locomotion: Possible functional significance of muscle design and force patterns. Journal of Experimental Biology 199: 801-814.
42. Quinn RD, Espenschied KS. 1993. Control of a hexapod robot using a biologically inspired neural network. Pages 365-381 in Beer RD, Ritzmann RE, McKenna T, eds. Biological Neural Networks in Invertebrate Neuroethology and Robotics. Boston: Academic Press.
43. Raibert MH, Hodgins JK. 1993. Legged robots. Pages 319-354 in Beer RD, Ritzmann RE, McKenna T, eds. Biological Neural Networks in Invertebrate Neuroethology and Robotics. Boston: Academic Press.
44. Ridgel AL, Frazier SF, DiCaprio RA, Zill SN. 1999. Active signaling of leg loading and unloading in the cockroach. Journal of Neurophysiology 81: 1432-1437.
45. Roberts TJ, Marsh RL, Weyand PJ, Taylor CR. 1997. Muscular force in running turkeys: The economy of minimizing work. Science 275: 1113-1115.
46. Schaefer PL, Pollack AJ, Ritzmann RE. 1997. Analysis of descending influences on motor control of cockroach escape. Society of Neuroscience Abstracts 23: 1570.
47. Schmitz J. 1993. Load-compensating reactions in the proximal leg joints of stick insects during standing and walking. Journal of Experimental Biology 183: 15-33.
48. Tryba AK, Ritzmann RE. 1998. A robust and reversible preparation for examining the neural architecture underlying searching and walking in the cockroach Blaberus discoidalis. Congress of Neuroethology Abstracts 5: 231.
49. Watson JT, Ritzmann RE. 1998a. Leg kinematics and muscle activity during treadmill running in the cockroach, Blaberus discoidalis: I. Slow running. Journal of Comparative Physiology A Sensory, Neural and Behavioral Physiology 182: 11-22.
50. _. 1998b. Leg kinematics and muscle activity during treadmill running in the cockroach, Blaberus discoidalis: II. Fast running. Journal of Comparative Physiology A Sensory, Neural and Behavioral Physiology 182: 23-33.
51. Watson JT, Tryba AK, Ritzmann RE. 1996. Analysis of prothoracic leg movement during walking and climbing in the cockroach. Society of Neuroscience Abstracts 22: 1077.
52. Watson JT, Tryba AK, Ritzmann RE, Zill SN. 1997. Coordination of leg joints during complex locomotion in the cockroach. Society of Neuroscience Abstracts 23: 767.
53. Watson JT, Pollack AJ, Zill SN, Ritzmann RE. 1998. Kinematics and leg muscle activity in cockroaches climbing over obstacles. Congress of Neuroethology 5: 227.
54. Wilson DM. 1966. Insect walking. Annual Review of Entomology 11: 103-123.
55. Wong RKS, Pearson KG. 1976. Properties of the trochanteral hair plate and its function in the control of walking in the cockroach. Journal of Experimental Biology 64: 233-249.
56. Zill SN. 1990. Mechanoreceptors: Exteroceptors and proprioceptors. Pages 247-267 in Huber I, Masler EP, Ruo BR, eds. Cockroaches as Models for Neurobiology: Applications in Biomedical Research. Boca Raton (FL): CRC Press.
57. _. 1993. Mechanisms of load compensation in insects: Swaying and stepping strategies in posture and locomotion. Pages 43-68 in Beer R, Ritzmann RE, McKenna T, eds. Biological Neural Networks in Invertebrate Neuroethology and Robotics. Boston: Academic Press.
58. Zill SN, Moran DT. 1981. The exoskeleton and insect proprioception. III. Activity of tibial campaniform sensilla during walking in the American cockroach, Periplaneta americana. Journal of Experimental Biology 94: 57-75.
59. Zill SN, Seyfarth E-A. 1996. Exoskeletal sensors for walking. Scientific American 275: 86-90.
60. Zill SN, Ridgel AL, DiCaprio RA, Frazier SF 1999. Load signaling by cockroach trochanteral campaniform sensilla. Brain Research 822: 271-275.