In the learning of locomotion behavior of a stinkbug Erthesina fullo, the seeked principle of its locomotion can be an important inspiration on the design of six-legged robot. To achieve this goal, in this paper, loco...In the learning of locomotion behavior of a stinkbug Erthesina fullo, the seeked principle of its locomotion can be an important inspiration on the design of six-legged robot. To achieve this goal, in this paper, locomotion behavior of stinkbugs on glass and plastic foam are recorded. Hereby, variation in spatial and temporal kinematics of level, vertical and inverted locomotion is analyzed. Differential leg function and adhesive mechanism as well as the advantage of non-isometric legs of insects are presented. With increasing stride frequency, the speed of level, vertical and inverted locomotion can be higher without adjusting stride length. Variation in gait characteristics between level and vertical locomotion is very little, but lower speed and larger duty factor of inverted locomotion can be occurred while climbing on glass. On the surface of vertical and inverted plastic foam, stinkbugs cannot walk steady and agilely due to its adhesive mechanism.展开更多
基金supported by the NUAA Fundamental Research Funds (NS2013094)
文摘In the learning of locomotion behavior of a stinkbug Erthesina fullo, the seeked principle of its locomotion can be an important inspiration on the design of six-legged robot. To achieve this goal, in this paper, locomotion behavior of stinkbugs on glass and plastic foam are recorded. Hereby, variation in spatial and temporal kinematics of level, vertical and inverted locomotion is analyzed. Differential leg function and adhesive mechanism as well as the advantage of non-isometric legs of insects are presented. With increasing stride frequency, the speed of level, vertical and inverted locomotion can be higher without adjusting stride length. Variation in gait characteristics between level and vertical locomotion is very little, but lower speed and larger duty factor of inverted locomotion can be occurred while climbing on glass. On the surface of vertical and inverted plastic foam, stinkbugs cannot walk steady and agilely due to its adhesive mechanism.
