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— Rapid and consistent turning of running legged robots on surfaces with moderate friction is challenging due to leg slip and uncertain dynamics. A tail is proposed as a method to effect turns at higher yaw frequencies than can be obtained by differential velocity drive of alternate sides. Here we introduce a 100 mm scale dynamic robot-OctoRoACH-with(More)
— This work presents the design, fabrication, capabilities, and obstacle traversal mechanics of MEDIC (Millirobot Enabled Diagnostic of Integrated Circuits), a small legged robot able to overcome a varied array of obstacles. MEDIC features a hull that keeps its body in contact with the ground at all times, and uses only four actuators to move forward, turn,(More)
This paper presents a six-legged, sprawl-tuned autonomous robot (STAR). This novel robot has a variable leg sprawl angle in the transverse plane to adapt its stiffness, height, and leg-to-surface contact angle. The sprawl angle can be varied from nearly positive 60 degrees to negative 90 degrees, enabling the robot to run in a planar configuration, upright,(More)
— For maximum maneuverability, terrestrial robots need to be able to turn precisely, quickly, and with a small radius. Previous efforts at turning in legged robots primarily have used leg force or velocity modulation. We developed a palm-sized legged robot, called TAYLRoACH. The tailed robot was able to make rapid, precise turns using only the actuation of(More)
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