ArticleHeliyon2024
Feedback control of automatic navigation for cyborg cockroach without external motion capture system.
Article in Heliyon, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
5 citing papers in PubMed.
- Article
- Bust Stimulation for Sustained Locomotion Control and Autonomous Navigation of Terrestrial Cyborg Beetles.Cyborg and bionic systems (Washington, D.C.) · 2026Article
- Fully Implanted Miniature Radio Controller Boosts Cyborg Insect Mobility in Challenging Terrains.Cyborg and bionic systems (Washington, D.C.) · 2026Article
- Zoborg: On-Demand Climbing Control for Cyborg Beetles.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2025Article
- Ergonomic Insect Headgear and Abdominal Buckle with Surface Stimulators Manufactured via Multimaterial 3D Printing: Snap-and-Secure Installation of Noninvasive Sensory Stimulators for Cyborg Insects.Cyborg and bionic systems (Washington, D.C.) · 2025Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
4 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Due to their size and locomotion ability, cockroaches are favorable as hybrid robot platforms in search and rescue (SAR) missions. However, cockroaches most likely approach the corner area and stay for an uncertain time. This natural behavior will hinder the utilization of cyborg cockroaches in SAR missions under rubble, unstructured, and unknown areas. Therefore, we proposed onboard automatic obstacle avoidance and human detection that can run on the wireless backpack stimulator without an external motion capture system. A low-power and small-size Time of Flight (ToF) sensor was selected as a distance measurement sensor, while a low-resolution thermopile array sensor was applied for human presence detection. The implemented feedback control based on IMU and ToF sensors has successfully navigated the cyborg cockroach to avoid obstacles and escape from the sharp corners in the laboratory unstructured area without stopping or being trapped. It could also recognize the human presence when the human was in front of it in real-time. Due to its performance, the random forest classifier was implemented as an embedded human detection system. It could achieve the highest accuracy at a distance of around 25 cm (92.5%) and the lowest accuracy at about 100 cm (70%).
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.