Date of this Version
Stable and robust autonomous dynamic locomotion is demonstrated experimentally in a four and a six-legged robot. The Scout II quadruped runs on flat ground in a bounding gait, and was motivated by an effort to understand the minimal mechanical design and control complexity for dynamically stable locomotion. The RHex 0 hexapod runs dynamically in a tripod gait over flat and badly broken terrain. Its design and control was motivated by a collaboration of roboticists, biologists, and mathematicians, in an attempt to capture specific biomechanical locomotion principles. Both robots share some basic features: Compliant legs, each with only one actuated degree of freedom, and reliance on (task space) open loop controllers.
Martin Buehler, Uluc Saranli, D. Papadopoulos, and Daniel E. Koditschek, "Dynamic locomotion with four and six-legged robots", . August 2000.
Date Posted: 02 June 2008
This document has been peer reviewed.