Realization of a CNN-driven cockroach-inspired robot

This paper describes the implementation of a bio-inspired six legged robot: Gregor I. Both structure and locomotion control are inspired by biological observations in cockroaches. Robot mechanics attempts to emulate main structural features in cockroaches, like self-stabilizing posture and specializing legged function; in turn, locomotion control is based on the theory of the central pattern generator implemented on a VLSI chip. The final aim is to artificially replicate the fundamental principles that guarantee cockroach´s extraordinary agility. Our major concern was on the implementation of rear legs, that seem to play a crucial role in obstacle overcoming and payload capability, and on the locomotion control, performed in this work by a cellular neural network playing the role of an artificial central pattern generator. Experimental tests showed that Gregor I is able to walk at the travel speed of 0.1 body length per second and to successfully negotiate obstacles more than 170 % of the height of its mass center