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Prof. Daniel E. Koditschek

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Mechanical Aspects of Legged Locomotion Control

Arthropod Structure and Development, 2004

D. E. Koditschek*, R. J. Full†, M. Buehler‡
*: AI Lab and Controls Lab, Department of EECS, University of Michigan
†: PolyPEDAL Laboratory, Department of Integrative Biology, University of California at Berkeley
‡: Robotics, Boston Dynamics

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

      We review the mechanical components of an approach to motion science that enlists recent progress in neurophysiology, biomechanics, control systems engineering, and non-linear dynamical systems to explore the integration of muscular, skeletal, and neural mechanics that creates effective locomotor behavior. We use rapid arthropod terrestrial locomotion as the model system because of the wealth of experimental data available. With this foundation, we list a set of hypotheses for the control of movement, outline their mathematical underpinning and show how they have inspired the design of the hexapedal robot, RHex.
BibTeX Entry
    author = {Daniel E. Koditschek A and Robert J. Full B and Martin Buehler C},
    title = {Mechanical aspects of legged locomotion control},
    year = {2004}
Related Sites
RHex - the RHex Robot

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