A New Perspective Analysis of Variations in Cockroach Motion Kinematics Using Precision Kinematic Image Processing

Arash Khajeh, Mahmoud Mosavi Mashhadi, Aghil Yousefi Koma


The ability of insects with sticky legs in moving on vertical and horizontal surfaces can be related to adhesion properties of their legs. Despite the key role of the mechanical mechanism of the body and leg movements of insects during adhesion, this mechanism has not been fully still understood. This study aimed at investigating the mechanism of leg movements in movement cycles from the start to restart of the movement of the same leg on a straight path. Irregularity in the acceleration-time graph of the center of mass (COM) can be partly related to this assumption on the sequence difference of leg movements during insect motion. Unlike current assumptions on repetitive movement cycles in the simulation of cockroach motion kinematics, our results revealed a difference in cockroach motion in each cycle. This finding can evolve the mechanism of simulated robots inspired by insects. Due to the low average weight of the American cockroach (0.83±0.5 g), the use of accelerometer sensors leads to measurement errors and deformation of the mechanism. Furthermore, the problem with frame-by-frame image processing time during movement cycles can be solved by the method used in this study.


Biomechanics; Acceleration; Cockroach; Insect; Biomimetic; Movement Cycle

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