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Investigations on the locomotion of insects have shown that during
climbing, turning, and maneuvering over irregular terrain, insects
use virtually the same gait as in horizontal locomotion. There is
no precise foot positioning and a leg does not react to any sensory
feedback within a step. This implies that that an electromechanical
insect does not necessary require an elaborate multi-variable robotic
legs. A simple mechanism that creates a trajectory for most types
of terrains is sufficient.
Investigations also show that the dynamics of an insect locomotion is a function of the properties of its musculoskeletal units (length, inertia, elasticity, and damping); very little feedback control is used to alter the dynamics of the insect locomotion. In other words the control algorithm of the insect locomotion is embedded in the form of the physical characteristics of the insect itself. This implies that the control of an electromechanical insect inspired by insects locomotion, may not need a close loop positioning control using any sensory system, an open loop control for the machine legs may be sufficient. Substantial portion of locomotion algorithm can reside in the mechanical design of the walking machine. |
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