A Directional Locomotion Control of Cyborg Locusts for Complex Outdoor Environments  

作　　者：Xin Huang Tiancheng Li Kaixuan Sun Meisong Yuan Bo Yang 

机构地区：[1]School of Instrument Science and Engineering,Southeast University,Nanjing,210096,China [2]Key Laboratory of Micro-Inertial Instruments and Advanced Navigation Technology,Ministry of Education,Nanjing,210096,China

出　　处：《Journal of Bionic Engineering》2025年第2期596-607,共12页仿生工程学报(英文版)

基　　金：supported by Postgraduate Research&Practice Innovation Program of Jiangsu Province under Grant KYCX22_0290.

摘　　要：The ability of cyborg locusts to achieve directional movement in complex outdoor environments is critical for search and rescue missions.Currently,there is a lack of research on motion control for cyborg locusts in outdoor settings.In this study,we developed cyborg locusts capable of performing directional locomotion in intricate outdoor environments,including jumping over obstacles,climbing slopes,traversing narrow pipelines,and accurately reaching predetermined targets along specified routes.We designed a miniature electrical backpack(10 mm×10 mm,0.75 g)capable of receiving stimulus parameters(frequency,duty ratio,and stimulation time)via Bluetooth commands from mobile phones.Electrical stimulation of locust sensory organs,such as the antennae and cercus,induced turning and jumping behaviors.Experi-mental testing of locust movement control was conducted under outdoor conditions with a short electrical stimulation interval.Results showed a positive correlation between locust turning angles and electrical stimulation parameters within a specified range,with an average jumping height exceeding 10 cm.Additionally,the success rate of locust turning and jumping behaviors correlated positively with the interval time between electrical stimulations.Adjusting these intervals during forward crawling phases increased the likelihood of the locusts jumping again.In conclusion,this study success-fully achieved directional locomotion control of cyborg locusts outdoors,providing insights and references for advancing search and rescue capabilities.

关 键 词：Cyborg locusts Turning and jumping control Directional locomotion Search and rescue 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]