Biologically-inspired locomotion of a 2g hexapod robot

@article{Baisch2010BiologicallyinspiredLO,
  title={Biologically-inspired locomotion of a 2g hexapod robot},
  author={Andrew T. Baisch and Pratheev Sreetharan and Robert J. Wood},
  journal={2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2010},
  pages={5360-5365}
}
Here we present the design, modeling, and fabrication of a 2g mobile robot. By applying principles from biology and existing meso-scale fabrication techniques, a 5.7cm hexapod robot with sprawled posture has been created, and is capable of locomotion up to 4 body-lengths per second using the alternating tripod gait at 20Hz actuation frequency. Furthermore, this work proves the viability of a new mechanical linkage design, fabricated using the smart composite microstructure process, to provide… CONTINUE READING
Highly Cited
This paper has 82 citations. REVIEW CITATIONS
49 Citations
27 References
Similar Papers

Citations

Publications citing this paper.
Showing 1-10 of 49 extracted citations

83 Citations

01020'12'14'16'18
Citations per Year
Semantic Scholar estimates that this publication has 83 citations based on the available data.

See our FAQ for additional information.

References

Publications referenced by this paper.
Showing 1-10 of 27 references

DASH : A dynamic 16 g hexapedal robot , ” in IEEE / RSJ International Conference on Intelligent Robots and Systems , 2009

  • M. Buehler U. Saranli, D. Koditschek
  • IROS
  • 2009

The dynamics of legged locomotion: Models, analyses, and challenges

  • P. Holmes, D. Koditschek, R. Full, J. Guckenheimer
  • Dynamics, vol. 48, no. 2, pp. 207–304.
  • 2009
1 Excerpt

Similar Papers

Loading similar papers…