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Dynamic locomotion with four and six-legged robots

Proceedings of the International Symposium on Adaptive Motion of Animals and Machines, Montreal, Canada. August, 2000

M. Buehler*, U. Saranli†, D. Papadopoulos*, and D. Koditschek
*:Centre for Intelligent Machines, Ambulatory Robotics Laboratory, McGill University
†: Department for Electrical Engineering and Computer Science, University of Michigan
Full PDF | Penn ScholarlyCommons

      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.
BibTeX entry
  author       = "M. Buehler, U. Saranli, D. Papadopoulos, and D. Koditschek"
  title        = "Dynamic locomotion with four and six-legged robots",
  booktitle    = "Proceedings of the International Symposium on Adaptive Motion of Animals and Machines"
  year         = "2000"

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