Animal-inspired design and aerodynamic stabilization of a hexapedal millirobot

@article{Haldane2013AnimalinspiredDA,
  title={Animal-inspired design and aerodynamic stabilization of a hexapedal millirobot},
  author={Duncan W. Haldane and Kevin C. Peterson and Fernando Garcia Bermudez and Ronald S. Fearing},
  journal={2013 IEEE International Conference on Robotics and Automation},
  year={2013},
  pages={3279-3286}
}
The VelociRoACH is a 10 cm long, 30 gram hexapedal millirobot capable of running at 2.7 m/s, making it the fastest legged robot built to date, relative to scale. We present the design by dynamic similarity technique and the locomotion adaptations which have allowed for this highly dynamic performance. In addition, we demonstrate that rotational dynamics become critical for stability as the scale of a robotic system is reduced. We present a new method of experimental dynamic tuning for legged… CONTINUE READING
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High-speed horizontal to vertical transitions in running cockroaches reveals a principle of robustness

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