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A Neuromechanical Model for Cockroach Locomotion

Doorly, Nicole C.
http://rave.ohiolink.edu/etdc/view?acc_num=case1291140045

Abstract Details

2011, Master of Sciences, Case Western Reserve University, EMC - Mechanical Engineering.
Robotic models can be used to better understand complex biological systems. For this project, a robotic model of the left mesothoracic (middle) cockroach (Blaberus discoidalis) leg was built to explore the dynamics of the neuromechanical system underlying insect locomotion. The robotic hardware was designed to represent—as accurately as possible—cockroach morphology. To improve on previous robotic models of the cockroach leg, the Trochanter-Femur joint was added. Control of the robotic leg was designed to represent hypothesized neural connections in the cockroach—this controller was adapted from observed neural connections in the stick insect leg. The model was capable of generating stable locomotive actions (i.e. forward stepping and inside turning) and analysis of joint movements showed significant similarities to actual cockroach behavior. Finally, experiments addressing step frequency and behavioral transitioning showed the power of the model as a hypothesis-testing tool for biologists.
Roger Quinn (Advisor)
57 p.
Robots
robotics; insect locomotion; modeling

Recommended Citations

Citations

  • Doorly, N. C. (2011). A Neuromechanical Model for Cockroach Locomotion [Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1291140045

    APA Style (7th edition)

  • Doorly, Nicole. A Neuromechanical Model for Cockroach Locomotion. 2011. Case Western Reserve University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1291140045.

    MLA Style (8th edition)

  • Doorly, Nicole. "A Neuromechanical Model for Cockroach Locomotion." Master's thesis, Case Western Reserve University, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=case1291140045

    Chicago Manual of Style (17th edition)

case1291140045
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This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.