Daniel M. Dudek

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Geckos with adhesive toe pads rapidly climb even smooth vertical surfaces. We challenged geckos (Hemidactylus garnotii) to climb up a smooth vertical track that contained a force platform. Geckos climbed vertically at up to 77 cm s(-1) with a stride frequency of 15 Hz using a trotting gait. During each step, whole body fore-aft, lateral and normal forces(More)
Rapid, vertically climbing cockroaches produced climbing dynamics similar to geckos, despite differences in attachment mechanism, ;foot or toe' morphology and leg number. Given the common pattern in such diverse species, we propose the first template for the dynamics of rapid, legged climbing analogous to the spring-loaded, inverted pendulum used to(More)
While the dynamics of running arthropods have been modeled as a spring-mass system, no such structures have been discovered that store and return energy during bouncing. The hindleg of the cockroach Blaberus discoidalis is a good candidate for a passive, vertical leg spring because its vertically oriented joint axes of rotation limit the possibility of(More)
Elastic mechanisms in the invertebrates are fantastically diverse, yet much of this diversity can be captured by examining just a few fundamental physical principles. Our goals for this commentary are threefold. First, we aim to synthesize and simplify the fundamental principles underlying elastic mechanisms and show how different configurations of basic(More)
Cockroaches recover rapidly from perturbations during high-speed running that allows them to cross unstructured terrains with no change in gait. Characterization of the exoskeletal material properties of the legs suggests that passive mechanical feedback could contribute to the self-stabilizing behavior. We imposed large, dorsal-ventrally directed impulsive(More)
Despite variations ranging from leg number and shape to type of skeleton employed, terrestrial runners from mammals to arthropods produce ground reaction forces that can be modeled as a spring-mass system with the same dimensionless stiffness (Blickhan and Full, 1993). There are two major beneficial consequences of bouncing while running: 1) the ability to(More)
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