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The International Journal of Robotics Research, Vol. 15, No. 2, 113-127 (1996)
DOI: 10.1177/027836499601500201
© 1996 SAGE Publications

Sense Organs of Insect Legs and the Selection of Sensors for Agile Walking Robots

Fred Delcomyn

Department of Entomology Neuroscience Program

Mark E. Nelson

Department of Molecular and Integrative Physiology Beckman Institute for Advanced Science and Technology Neuroscience Program

Jan H. Cocatre-Zilgien

Department of Entomology University of Illinois at Urbana-Champaign Urbana, Illinois 61801

Legged robots modeled after insects have been proposed for use on rugged, dangerous, or inaccessible terrain. The agility of current hexapod robots, however, is not yet as good as that of their biological counterparts. The capability of insects for agile locomotion is likely due mainly to the rich variety of sensory information that is provided by sense organs in their legs. In this article we review the characteristics and distri bution of insect leg sense organs in terms that are relevant to researchers interested in designing agile, insect-like, walking robots, In insect locomotion, three classes of mechanosensory organs seem to play an important role in sensory feedback: detectors of leg movement, detectors of external contact, and detectors of leg stress. We review the properties of these types of sense organs and describe their functional roles in the con trol of locomotion.


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S. Kaliyamoorthy, R. D. Quinn, and S. N. Zill
Force Sensors in Hexapod Locomotion
The International Journal of Robotics Research, July 1, 2005; 24(7): 563 - 574.
[Abstract] [PDF]