A Biologically Inspired Passive Antenna for Steering Control of a Running Robot

Abstract

Inspired by nature’s effective use of tactile feedback for rapid maneuvering, we designed a passive, highly compliant tactile sensor for Sprawlette, a hexapedal running robot. To bridge the gap between biology and design, we took initial steps toward understanding how the cockroach, Periplaneta americana, uses antenna feedback to control its orientation during a rapid wall following behavior. First, we developed a simple template model for antenna-based wall following. Second, we collected initial cockroach data that supports the idea that the rate of convergence to the wall or “tactile flow” is being used, in part, for controlling body orientation. Based on these steps, we designed and calibrated a prototype tactile sensor to measure Sprawlette’s angle and distance relative to a straight wall, and employed a simple bio-inspired control law that can stabilize the template dynamics. Finally, we integrated the sensor and controller on Sprawlette and showed empirically that stabilizing Sprawlette during wall following does indeed require tactile flow, as predicted.