Mechanical principles of dynamic terrestrial self-righting using wings

  title={Mechanical principles of dynamic terrestrial self-righting using wings},
  author={Chen Li and Chad C. Kessens and Ronald S. Fearing and Robert J. Full},
  journal={Advanced Robotics},
  pages={881 - 900}
Graphical Abstract Abstract Terrestrial animals and robots are susceptible to flipping-over during rapid locomotion in complex terrains. However, small robots are less capable of self-righting from an upside-down orientation compared to small animals like insects. Inspired by the winged discoid cockroach, we designed a new robot that opens its wings to self-right by pushing against the ground. We used this robot to systematically test how self-righting performance depends on wing opening… 

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