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Experimental Robotics pp 303–317Cite as

A Physical Model for Dynamical Arthropod Running on Level Ground

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 54))

Abstract

Arthropods with their extraordinary locomotive capabilities have inspired roboticists, giving rise to major accomplishments in robotics research over the past decade. Most notably bio-inspired hexapod robots using only task level open-loop controllers [22, 9] exhibit stable dynamic locomotion over highly broken and unstable terrain. We present experimental data on the dynamics of SprawlHex— a hexapod robot with adjustable body sprawl — consisting of time trajectory of full body configuration and single leg ground reaction forces. The dynamics of SprawlHexis compared and contrasted to that of insects. SprawlHexdynamics has qualitative similarities to that of insects in both sagittal and horizontal plane. SprawlHexpresents a step towards construction of an effective physical model to study arthropod locomotion.

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Author information

Authors and Affiliations

  1. Department of Electrical and Systems Engineering, University of Pennsylvania, PA, USA

    Haldun Komsuoḡlu, Kiwon Sohn & Daniel E. Koditschek

  2. Department of Integrative Biology, University of California, Berkeley, CA, USA

    Robert J. Full

Authors
  1. Haldun Komsuoḡlu
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  2. Kiwon Sohn
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  3. Robert J. Full
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  4. Daniel E. Koditschek
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Editor information

Editors and Affiliations

  1. Artificial Intelligence Laboratory Department of Computer Science, Stanford University, CA 94305-9010, Stanford, USA

    Oussama Khatib

  2. Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, 3330 Walnut Street, PA 19104, Philadelphia, USA

    Vijay Kumar

  3. Department of Electrical and Systems Engineering, University of Pennsylvania, 460 Levine Hall, 200 South 33rd Street, PA 19104, Philadelphia, USA

    George J. Pappas

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© 2009 Springer-Verlag Berlin Heidelberg

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Komsuoḡlu, H., Sohn, K., Full, R.J., Koditschek, D.E. (2009). A Physical Model for Dynamical Arthropod Running on Level Ground. In: Khatib, O., Kumar, V., Pappas, G.J. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 54. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00196-3_36

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  • DOI: https://doi.org/10.1007/978-3-642-00196-3_36

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-00195-6

  • Online ISBN: 978-3-642-00196-3

  • eBook Packages: EngineeringEngineering (R0)

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