Abstract
Dung beetles impressively coordinate their 6 legs to effectively roll large dung balls. They can also roll dung balls varying in the weight on different terrains. The mechanisms underlying how their motor commands are adapted to walk and simultaneously roll balls (multitasking behavior) under different conditions remain unknown. This study unravels the mechanisms of how dung beetles roll dung balls and adapt their leg movements to stably roll balls over different terrains for multitasking robots. A modular neural-based loco-manipulation control inspired by and based on ethological observations of the ball-rolling behavior of dung beetles is synthesized. The proposed neural-based control contains a central pattern generator (CPG) module, a pattern formation network (PFN) module, and a robot orientation control (ROC) module. The integrated control mechanisms can control a dung beetle-like robot (ALPHA) with biomechanical feet to perform adaptive (multitasking) loco-manipulation (walking and ball-rolling) on various terrains (flat and uneven). It can deal with different ball weights (2.0 and 4.6 kg) and ball types (soft and rigid). The control mechanisms can serve as guiding principles for solving sensory-motor coordination for multitasking robots. Furthermore, this study contributes to biological research by enhancing the understanding of sensory-motor coordination for adaptive (multitasking) loco-manipulation behavior in animals.