Advancing Continual Jump Trajectory Control in a Locust Biorobot Through Motor Nerve Stimulation

Locusts are natural talent jumpers. They can easily jump over obstacles larger than their size. By integrating wireless electrical stimulation control devices, these insects can be transformed into biorobots endowed with jumping abilities. However, achieving reliable control over locust jumping has remained a challenge, with previous studies falling short of inducing stable continual jumps. In this research, we developed a locust-based biorobot based on motor neural stimulation. Neural signals were acquired and analyzed from the motor nerve N5. Then, a 400 ms artificial signal (3 V voltage, 50 Hz frequency, 3 ms pulse width) that mimics natural neural activity was applied to the N5 nerve on a body-fixed locust. Consistent leg kicking was induced by this stimulation, achieving a success rate of 90%. Subsequently, a remotely operated electronic backpack was designed and mounted onto the locust's back. Through applying electrical stimulation signals from the backpack, jumping motion can be triggered immediately with a success rate of 80%, effectively transforming the locust into a jumping biorobot. The biorobot weights 2.55 g inclusive of backpack and battery, and is capable of performing over 9 jumps continually. By incorporating cooperative antennae stimulation, the biorobot achieved precise steering control between continual jumps. This advancement allowed our biorobot to perform directional continual jumps, marking the first demonstration of targeted approximation through continual jumps.