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Figure 2


Fig. 2. Block diagram of simplified control model. The `mechanics' box represents the torsional dynamics, and relates the body moment, u, to the body angle, {theta}. The antenna box is a simplified model of the antenna sensing kinematics, and it dynamically relates the cockroach angle, {theta}, to the antenna sensor measurement, d. We fit a simplified neural controller (in the broken box), in which the error between a nominal `desired' wall-following distance, d{infty}, and the measured distance, d, is fed back through a PD-controller. This control model enabled us to test PD-control (KD=0) against P-control (KD=0).





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