A Biological Micro Actuator: Graded and Closed-Loop Control of Insect Leg Motion by Electrical Stimulation of Muscles
Figure 11
Variation in leg motion responses to different closed-loop control settings.
(A) The overshoot angle and (B) the reaching time of protraction/retraction motion with respect to different Kp values and update time intervals t during closed-loop control (number of beetles = 5, 35≤ number of data points at each experiment setting ≤49). In general, as the Kp value was increased from 0.5 to 1.5 and the update time interval t was decreased from 300 ms to 100 ms, (A) the leg response overshoot angle (absolute values used for all the motions) increased, whereas (B) the reaching-time decreased. Numbers at the bottom of each graph indicate the Kp value used for the corresponding column above.