Simulations results of an insect robot

In the authors' previous papers (1991, 1992), a method for simulation of an insect robot (mobile robot) in an indoor environment was presented. The practical results had been lacking, as the system was not finished by that time. Now the system is operating and is described in this paper. Some of the conclusions inferred refer mainly to the response of the robot to the environment. Moreover, some constraints adopted in the original project are also revised. The key to a full understanding is in a detailed explanation of all the setup variables, which must be initialized before any simulation cycle takes place.