Biological Inspiration: Lessons from Many-Legged Locomotors
Nature’s technologies should not be copied blindly, but used to inspire design. Nature’s lessons on legged locomotion involve energy exchange, transfer, storage and return. Animals operating as low degree of freedom, spring-loaded, inverted pendulums can capitalize on the passive, dynamic self-stabilization possible from many legs and a sprawled posture. Recent advancements in system controls and materials manufacturing promise to permit the application of nature’s lessons to engineered robots.
KeywordsGround Reaction Force Underwater Vehicle Autonomous Underwater Vehicle Inverted Pendulum Feedforward Control
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