A Directional Locomotion Control of Cyborg Locusts for Complex Outdoor Environments

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

作者机构：School of Instrument Science and EngineeringSoutheast UniversityNanjing210096China Key Laboratory of Micro-Inertial Instruments and Advanced Navigation TechnologyMinistry of EducationNanjing210096China 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报(英文版))

年 卷 期：2025年第22卷第2期

页      面：596-607页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

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

主　　题：Cyborg locusts Turning and jumping control Directional locomotion Search and rescue 

摘      要：The ability of cyborg locusts to achieve directional movement in complex outdoor environments is critical for search and rescue ***,there is a lack of research on motion control for cyborg locusts in outdoor *** 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 *** 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 *** stimulation of locust sensory organs,such as the antennae and cercus,induced turning and jumping ***-mental testing of locust movement control was conducted under outdoor conditions with a short electrical stimulation *** showed a positive correlation between locust turning angles and electrical stimulation parameters within a specified range,with an average jumping height exceeding 10 ***,the success rate of locust turning and jumping behaviors correlated positively with the interval time between electrical *** these intervals during forward crawling phases increased the likelihood of the locusts jumping *** conclusion,this study success-fully achieved directional locomotion control of cyborg locusts outdoors,providing insights and references for advancing search and rescue capabilities.