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A dynamic model of running–the spring-loaded inverted pendulum (SLIP)–has proven effective in describing the force patterns found in a wide variety of animals and in designing and constructing a number of terrestrial running robots. Climbing or vertical locomotion has, on the other hand, lacked such a simple and powerful model. Climbing robots to date have(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 iS-prawl, 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)
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)
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 in(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)
This paper describes the inspiration, design, analysis, implementation of and experimentation with the first dynamical vertical climbing robot. Biologists have proposed a pendulous climbing model that abstracts remarkable similarities in dynamic wall scaling behavior exhibited by radically different animal species. We study numerically a version of that(More)
PURPOSE We have previously identified solute-linked carrier family A1 member 5 (SLC1A5) as an overexpressed protein in a shotgun proteomic analysis of stage I non-small cell lung cancer (NSCLC) when compared with matched controls. We hypothesized that overexpression of SLC1A5 occurs to meet the metabolic demand for lung cancer cell growth and survival. (More)
Humans and animals adapt their leg impedance during running for both internal (e.g. loading) and external (e.g. surface) changes. To date the mechanical complexities of designing usefully robust tunable passive compliance into legs has precluded their implementation on practical running robots. This work describes the design of novel, structure-controlled(More)
Passively compliant legs have been instrumental in the development of dynamically running legged robots. Having properly tuned leg springs is essential for stable, robust and energetically efficient running at high speeds. Recent simulation studies indicate that having variable stiffness legs, as animals do, can significantly improve the speed and stability(More)