Architectures for a biomimetic hexapod robot

This paper describes a six-legged robot based on the features of an agile i nsect, the American cockroach, Periplaneta americana. The robot is designed with insect-like leg structure and placement, and actuators that mimic mus cles. A test leg is also described that shows how sensory feedback can serv e as the basis of the control system for the robot in order for it to achie ve the degree of adaptability of locomotion over rough terrain exhibited by insects. (C) 2000 Elsevier Science B.V. All rights reserved.