The purpose of this study is to establish a method by which anyone can easily use an insect antenna as a robot olfactory sensor. Research has been conducted to use an insect antenna as a robot olfactory sensor because insect antennae are much more selective and sensitive than artificial odor sensors. To use an antenna as a robot olfactory sensor, a robot was controlled on the basis of the change in the electroantennogram (EAG) response to odor. However, EAG measurements were performed using microelectrodes or glass electrodes. Hence, it is difficult for engineering researchers and others who are not familiar with microscopic work to easily use an antenna as an odor sensor. For that reason, in this study, we designed a printed electrode using printed electronics (PE) technology that can be used for EAG measurement even for different morphologies of antennae. To detect the presence or absence of odor from the EAG response, we used a dynamic model to eliminate the effects of hum noise and drift associated with the measurement of biological signals. As a result, we proposed a method to make insect antennae easily usable for olfaction for an autonomous robot.