Animal-inspired design and aerodynamic stabilization of a hexapedal millirobot

  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},
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
Highly Cited
This paper has 75 citations. REVIEW CITATIONS
45 Citations
26 References
Similar Papers


Publications citing this paper.
Showing 1-10 of 45 extracted citations

75 Citations

Citations per Year
Semantic Scholar estimates that this publication has 75 citations based on the available data.

See our FAQ for additional information.


Publications referenced by this paper.
Showing 1-10 of 26 references

High-speed horizontal to vertical transitions in running cockroaches reveals a principle of robustness

  • K. Jayaram, J. M. Mongeau, B. McRae, R. J. Full
  • Society for Integrative and Comparative Biology…
  • 2010
1 Excerpt

Similar Papers

Loading similar papers…