An actuated horizontal plane model for insect locomotion

Abstract

We analyze a simple three degree of freedom model for running in the horizontal plane: the lateral leg spring (LLS) model with an actuated hip. The leg attachment point within the body is actuated to produce a force in the elastic leg that matches experimental force profiles. While the resulting bipedal model accurately reproduces force profiles by construction, we find that a single leg cannot reproduce the moment profiles and yawing variations seen in an insect equipped with a tripod of legs. We find stability is strongly dependent upon foot placement and that the leg attachment point motion within the body differs from that seen in the insect. © 2006 Springer-Verlag Berlin Heidelberg.