Bio-inspired design and dynamic maneuverability of a minimally actuated six-legged robot

@article{Hoover2010BioinspiredDA,
  title={Bio-inspired design and dynamic maneuverability of a minimally actuated six-legged robot},
  author={Aaron M. Hoover and Samuel Burden and Xiao-Yu Fu and S. Shankar Sastry and Ronald S. Fearing},
  journal={2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics},
  year={2010},
  pages={869-876}
}
Rapidly running arthropods like cockroaches make use of passive dynamics to achieve remarkable locomotion performance with regard to stability, speed, and maneuverability. In this work, we take inspiration from these organisms to design, fabricate, and control a 10cm, 24 gram underactuated hexapedal robot capable of running at 14 body lengths per second and performing dynamic turning maneuvers. Our design relies on parallel kinematic mechanisms fabricated using the scaled smart composite… CONTINUE READING
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