Fig. 5.

Comparison of manual control and autonomous control in the confined pipeline. (A) Flow chart for autonomous navigation control of a cockroach bio-robot. The host computer identified the junction sign for each frame returned from the bio-robot. A judgment condition was used to control the bio-robot's turning at a junction, and another judgment condition was used to correct the deflection of the crawling direction before approaching a junction. (B) Comparison of the bio-robot's crawling speed through 4 segments by manual control in the open bright pipeline, manual control in the dark confined pipeline, and autonomous control in the dark confined pipeline (N = 5 bio-robots, n = 5 trials). The corresponding values were about 0.055, 0.03, and 0.04 m/s. (C) Comparison of the bio-robot’s turning speed at the junctions in 3 different control environments (N = 5 bio-robots, n = 5 trials). The corresponding values were about 60, 33, and 80 deg/s.