The Control of Turning in Real and Simulated Stick Insects
Hugo Rosano and Barbara Webb
Simulation of Adaptive Behavior 2006 (SAB 2006)
Rome, Italy, 25-29 September 2006
Summary
This paper describes a model for six-legged robot turning control based upon the stick insect. Ethological observations were made on freely walking stick insects turning towards a visual target. It was found that there is a tendency for the prothorax to move directly towards the object while the rear of the body mainly rotates. The front legs are proposed to shape most of the body trajectory, affecting the other thoracic segments such that it is not necessary to calculate individual leg trajectories for the middle or rear legs. Using a 3D dynamical robot simulation we were able to reproduce naturalistic insect body and leg trajectories during turns with a very simple control principal. All remaining complex pattern of leg movements, and consequent body rotation and speed changes, emerged through decentralised interaction between the legs.