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The design of legged robots has long drawn on nature for inspiration. However, few of these robots exhibit the speed and robustness seen in even the simplest of animals. This paper presents the design and fabrication of a novel class of six-legged running robots based on biologically-inspired functional principles. We first describe recent findings in(More)
The spring loaded inverted pendulum template has been shown to accurately model the steady locomotion dynamics of a variety of running animals, and has served as the inspiration for an entire class of dynamic running robots. While the template models the leg dynamics by an energy-conserving spring, insects and animals have structures that dissipate, store(More)
Robots to date lack the robustness and performance of even the simplest animals when operating in unstructured environments. This observation has prompted an interest in biomimetic robots that take design inspiration from biology. However, even biomimetic designs are compromised by the complexity and fragility that result from using traditional engineering(More)
— We describe the design features that underlie the operation of iSprawl, a small (0.3 Kg) autonomous, bio-inspired hexapod that runs at 15 body-lengths/second (2.3 m/s). These features include a tuned set of leg compliances for efficient running and a light and flexible power transmission system. This transmission system permits high speed rotary power to(More)
All Rights Reserved ii I certify that I have read this dissertation and that, in my opinion, it is fully adequate in scope and quality as a dissertation for the degree of Doctor of Philosophy. I certify that I have read this dissertation and that, in my opinion, it is fully adequate in scope and quality as a dissertation for the degree of Doctor of(More)
— Biomechanical studies suggest that animals' abilities to tune their effective leg compliance in response to changing terrain conditions plays an important role in their agile, robust locomotion. However, despite growing interest in leg compliance within the robotics literature, little experimental work has been reported on tunable passive leg compliance(More)
Traditional legged runners and climbers have relied heavily on gait generators in the form of internal clocks or reference trajectories. In contrast, here we present physical experiments with a fast, dynamical, vertical wall climbing robot accompanying a stability proof for the controller that generates it without any need for an additional internal clock(More)
BACKGROUND Understanding the heterogeneous genotypes and phenotypes of prostate cancer is fundamental to improving the way we treat this disease. As yet, there are no validated descriptions of prostate cancer subgroups derived from integrated genomics linked with clinical outcome. METHODS In a study of 482 tumour, benign and germline samples from 259 men(More)
Simple mathematical models or 'templates' of locomotion have been effective tools in understanding how animals move and have inspired and guided the design of robots that emulate those behaviors. This paper describes a recently proposed biologically-based template for dynamic vertical climbing, and evaluates the feasibility of adapting it to build a(More)
IL1-RN is an important anti-inflammatory cytokine that modulate the inflammation response by binding to IL1 receptors, and as a consequence inhibits the action of proinflammatory cytokines IL1alpha and IL1beta. In this study, we hypothesise that sequence variants in the IL1-RN gene are associated with prostate cancer risk. The study population, a(More)