Streamlined shape of cyborg cockroach promotes traversability in confined environments by gap negotiation

• Main Authors: Kai, Kazuki, Long, Le Duc, Sato, Hirotaka
• Format: Journal Article
• Language: English
• Published: 09-10-2024
• Subjects: Computer Science - Robotics
• DOI: 10.48550/arxiv.2410.07558

The centimeter-scale cyborg insects have a potential advantage for
application in narrow environments where humans cannot operate. To realize such
tasks, researchers have developed a small printed-circuit-board (PCB) which an
insect can carry and control it. The electronic components usually remain bare
on the board and the whole board is mounted on platform animals, resulting in
uneven morphology of whole cyborg with sharp edges. It is well known that
streamlined body shape in artificial vehicles or robots contributes to
effective locomotion by reducing drag force in media. However, little is known
how the entire body shape impacts on locomotor performance of cyborg insect.
Here, we developed a 10 mm by 10 mm board which provided electrical stimulation
via Sub-GHz communication and investigated the impact of physical arrangement
of the board using Madagascar hissing cockroach. We compared the success rate
of gap negotiation between the cyborg with mounted board and implanted board
and found the latter outperformed the former. We demonstrated our cyborg
cockroach with implanted board could follow faithfully to the locomotion
command via antennal or cercal stimulation and traverse a narrow gap like air
vent cover. In contrast to the conventional arrangement, our cyborg insects are
suitable for application in a concealed environment.