A robot scorpion using ground vibrations for navigation

摘要

Robotics can ·leam a lot by investigating simple and effective techniques evolved in biology. The sand scorpion that ·lives · in the Mojave Desert uses ground vibrations when locating. its prey. In this paper it is shown that a robot can be made to navigate using similar techniques. A six-legged robot was constructed and fitted with vibration sensors to try the concept. Such a robot could be used in applications such as the search for victims after natural disasters. This paper presents the hardware design, algorithms for direction and location finding of a vibration source, the results of simulations and the performance ofthe direction finding system. 1