Advancing Biohybrid Insect Robot (BIR) Locomotion Control Through Non-Invasive Mechanical Stimulation

摘要

Insects exhibit remarkable sensory capabilities, including keen vision, sensitive olfaction, and tactile receptors, enabling them to navigate and interact with their surroundings proficiently. Leveraging these sensory organs, biohybrid insect robots (BIRs) have emerged as a significant research interest over the past decade for a wide array of applications. However, the prevailing methodology for BIR development predominantly involves invasive techniques and electrical pulses to control locomotion, posing potential risks to the insect’s sensory organs. In response, this study introduces a non-invasive mechanical stimulation approach to govern BIR locomotion, reducing the likelihood of impairing the insect’s sensory organs. Two piezo actuators are applied to both antennae, and a vibration motor is attached to the back of the cockroach near the cerci. Based on experimental results, we successfully demonstrated locomotion control for both forward and stop movements. A square wave signal with a frequency of 300 Hz was selected as the piezo actuator’s input signal to stop the BIR’s movement. The proposed mechanical stimulation achieves a noteworthy $\mathbf{9 0 \%}$ average accuracy in controlling BIR forward and stop movements, marking a significant advancement in developing non-invasive control for biohybrid insect robots.