Insights for robotic design from studies of the control of abdominal position in crayfish

Abstract

Studies of the control of position and movement of the abdomen of crayfish illustrate a number of features of invertebrate sensory-motor systems that have implications for their use to inform robotic design. We use the abdominal slow extensor motor system to illustrate three of them here: first, the way in which a behaviorally flexible length-servo device can be achieved with very few elements; second, the importance of knowledge of the biological and behavioral context in which the elements operate; third, that design solutions resulting from natural selection have been constrained by the previous evolutionary history of the animal, which can affect the outcomes in ways that may not be imme..