Departmental Papers (ESE)


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.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

August 2000


Postprint version. Published in Proceedings of the International Symposium on Adaptive Motion of Animals and Machines, August 2000.

NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.



Date Posted: 02 June 2008

This document has been peer reviewed.