BARRIER NAVIGATING AND SHELTER SEEKING ROBOT INSPIRED BY COCKROACH BEHAVIOR

The robotic controller in this study uses dynamically weighted behavior control architecture to obtain emergent behavior inspired by the cockroach Blaberus discoidalis. The effect of sensori-motor subsystems is weighted based on the current sensory state of the robot. Neither history nor prediction was considered, leading to a flexible navigation algorithm with minimal computation. Cockroach behavior was recorded to compare with robotic results.