A Cockroach Inspired Robot With Artificial Muscles

A robot, CWRU Robot V (Ajax) has been constructed based on the death head cockroach, Blaberus discoidalis. In an attempt to further take advantage of the neuromechanics of the animal, actuators with muscle-like properties have been employed that demonstrate a superior force to weight ratio over conventional actuation devices. Although it is not feasible to capture the entire range of motion displayed by the animal (seven degrees of freedom per leg), research has shown that twenty-four degrees of freedom provide a sufficiently close approximation for agile walking and climbing. The fifteen kilogram robot has an offboard power source and control system. Preliminary tests show that it is capable of maintaining stance and lifting significant payloads, as well as rough, open-loop walking.

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Daniel A. Kingsley, Roger D. Quinn, Roy E. Ritzmann
• Keywords: Conventional Actuation Devices, CWRU Robot, Death Head Cockroach, IROS 2006, Robotics