The Autonomous Pipeline Navigation of a Cockroach Bio-Robot with Enhanced Walking Stimuli  

作　　者：Songsong Ma Yuansheng Chen Songlin Yang Shen Liu Lingqi Tang Bing Li Yao Li 

机构地区：[1]State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin,China [2]Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics,Harbin Institute of Technology,Shenzhen,China [3]School of Mechanical Engineering and Automation,Harbin Institute of Technology,Shenzhen,China [4]The Biorobotics Institute,Scuola Superiore Sant'Anna,Pisa,Italy

出　　处：《Cyborg and Bionic Systems》2023年第1期47-55,共9页类生命系统（英文）

基　　金：supported by the National Natural Science Foundation of China(grant number 52375011);Shenzhen Science and Technology Program(grant number RCBS-20210609103901011);Shenzhen Peacock Innovation Team Project(grant number KQTD20210811090146075);State Key Laboratory of Mechanical System and Vibration(grant number MSV202306).

摘　　要：Tens of crawling bio-robots with cockroaches as the mobile platform have been developed with various functions.Compared with artificial crawling robots of the same size,they revealed better flexibility,larger payload,and stronger endurance.These features made bio-robots ideal for pipeline inspection scenarios because the advancements in locomotion mechanisms and efficient power systems are still hurdles for current artificial systems.In this study,we controlled the bio-robot to crawl in the confined dark pipeline and achieved autonomous motion control with the help of an onboard sensing system.Specifically,a micro-camera was mounted on the electronic backpack of the cockroach for image collection,and an IMU sensor was used to compute its body orientation.The electronic backpack transmitted images to the host computer for junction recognition and distance estimation.Meanwhile,the insect's habituation to electrical stimulation has long been an uncertain factor in the control of bio-robots.Here,a synergistic stimulation strategy was proposed to markedly reduce the habituation and increase the number of effective turning controls to over 100 times.It is also found that both the increase of payload and the application of stimulations could promote the metabolic rate by monitoring carbon dioxide release.With the integration of synergistic stimulation and autonomous control,we demonstrated the fully autonomous pipeline navigation with our cockroach bio-robot,which realized the cycle number of approximately 10 in a roll.This research provides a novel technology that has the potential for practical applications in the future.

关 键 词：ROBOT artificial ROBOT 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]