caa a22 4500 463245075 CHVBK 20180405153323.0 cr unu---uuuuu 170326e20071201xx s 000 0 eng 10.1007/s00422-007-0180-2 doi (NATIONALLICENCE)springer-10.1007/s00422-007-0180-2 A hexapedal jointed-leg model for insect locomotion in the horizontal plane [Elektronische Daten] [Raghavendra Kukillaya, Philip Holmes] We develop a simple model for insect locomotion in the horizontal (ground) plane. As in earlier work by Seipel etal. (Biol Cybern 91(0):76-90, 2004) we employ six actuated legs that also contain passive springs, but the legs, with "hip” and ‘knee' joints, better represent insect morphology. Actuation is provided via preferred angle inputs at each joint, corresponding to zero torques in the hip and knee springs. The inputs are determined from estimates of foot forces in the cockroach Blaberus discoidalis via an inverse problem. The head-thorax-body is modeled as a single rigid body, and leg masses, inertia and joint dissipation are ignored. The resulting three degree-of-freedom dynamical system, subject to feedforward joint inputs, exhibits stable periodic gaits that compare well with observations over the insect's typical speed range. The model's response to impulsive perturbations also matches that of freely-running cockroaches (Jindrich and Full, J Exp Biol 205:2803-2823, 2002), and stability is maintained in the face of random foot touchdowns representative of real insects. We believe that this model will allow incorporation of realistic muscle models driven by a central pattern generator in place of the joint actuators, and that it will ultimately permit the study of proprioceptive feedback pathways involving leg force and joint angle sensing. Springer-Verlag, 2007 Insect locomotion nationallicence Jointed legs nationallicence Lateral leg spring model nationallicence Hexapedal nationallicence Periodic gait nationallicence Poincaré map nationallicence stability nationallicence Kukillaya Raghavendra Department of Mechanical and Aerospace Engineering, Princeton University, 08544, Princeton, NJ, USA aut Holmes Philip Department of Mechanical and Aerospace Engineering and Program in Applied and Computational Mathematics, Princeton University, 08544, Princeton, NJ, USA aut Biological Cybernetics Springer-Verlag 97/5-6(2007-12-01), 379-395 0340-1200 97:5-6<379 2007 97 422 https://doi.org/10.1007/s00422-007-0180-2 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s00422-007-0180-2 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Kukillaya Raghavendra Department of Mechanical and Aerospace Engineering, Princeton University, 08544, Princeton, NJ, USA aut NATIONALLICENCE 700 1- Holmes Philip Department of Mechanical and Aerospace Engineering and Program in Applied and Computational Mathematics, Princeton University, 08544, Princeton, NJ, USA aut NATIONALLICENCE 773 0- Biological Cybernetics Springer-Verlag 97/5-6(2007-12-01), 379-395 0340-1200 97:5-6<379 2007 97 422 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer