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In order to produce a new mode of robust robotic locomotion and better understand how vertebrates coordinate motion with a compliant spine, we are developing a modular tensegrity robot inspired by the spine. The robot, called Tetraspine, is composed of rigid tetrahedron-shaped segments connected by six strings. Distributed impedance controllers coupled with central pattern generators (CPGs) generate...
Cockroach shelter-seeking strategy may look like an undirected random search, but we show that they are attracted to darkened shelters, arriving at a shelter in about half the time it would otherwise take. We were able to identify four statistically significant trends from the behavior of 134 cockroaches in one-minute naïve walking trials with four different arena configurations. By combining these...
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