Integrated Modular Neural Control for Versatile Locomotion and Object Transportation of a Dung Beetle-Like Robot

Dung beetles can effectively transport dung pallets of various sizes in any direction across uneven terrain. While this impressive ability can inspire new locomotion and object transportation solutions in multilegged (insect-like) robots, to date, most existing robots use their legs primarily to perform locomotion. Only a few robots can use their legs to achieve both locomotion and object transportation, although they are limited to specific object types/sizes (10%–65% of leg length) on flat terrain. Accordingly, we proposed a novel integrated neural control approach that, like dung beetles, pushes state-of-the-art insect-like robots beyond their current limits toward versatile locomotion and object transportation with different object types/sizes and terrains (flat and uneven). The control method is synthesized based on modular neural mechanisms, integrating central pattern generator (CPG)-based control, adaptive local leg control, descending modulation control, and object manipulation control. We also introduced an object transportation strategy combining walking and periodic hind leg lifting for soft object transportation. We validated our method on a dung beetle-like robot. Our results show that the robot can perform versatile locomotion and use its legs to transport hard and soft objects of various sizes (60%–70% of leg length) and weights (approximately 3%–115% of robot weight) on flat and uneven terrains. The study also suggests possible neural control mechanisms underlying the dung beetle Scarabaeus galenus’ versatile locomotion and small dung pallet transportation.

I. Introduction

Nowadays, locomotion is a fundamental function found in almost every multilegged robot [1], [2], [3], [4], [5]. locomotion is considered a core function, object manipulation and transportation functions [6], [7], [8], [9], [10] have been increasingly integrated into multilegged robots to enhance their performance in various applications, such as inspection, search and rescue missions, construction, and object transportation. In the last few years, various multilegged robot platforms have solved object manipulation and transportation problems by installing an additional manipulator. Some robots (such as SpotMini,1 LAURON V [11], CENTAURO [12], and HyQ [13]) use additional manipulators or grippers attached to their bodies to pick up an object. This method is only suitable for objects significantly smaller than a robot. Furthermore, an additional manipulator on the robot adds mass, resulting in increased power consumption.1

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