Gait-Adaptive Navigation and Human Searching in field with Cyborg Insect

Abstract: This study focuses on improving the ability of cyborg insects to navigate autonomously during search and rescue missions in outdoor environments. We propose an algorithm that leverages data from an IMU to calculate orientation and position based on the insect's walking gait. These computed factors serve as essential feedback channels across 3 phases of our exploration. Our method functions without relying on external systems. The results of our trials, carried out in both indoor (4.8 x 6.6 m^2) and outdoor (3.5 x 6.0 m^2) settings, show that the cyborg insect is capable of seeking a human without knowing the human's position. This exploration strategy would help to bring terrestrial cyborg insects closer to practical application in real-life search and rescue (SAR) missions.