A Cockroach Inspired Robot With Artificial Muscles

Abstract

A robot, 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