A principled approach to bio-inspired design of legged locomotion systems

Daniel E. Koditschek; Robert J. Full; Martin Buehler

doi:10.1117/12.544118

2 September 2004 A principled approach to bio-inspired design of legged locomotion systems

Daniel E. Koditschek, Robert J. Full, Martin Buehler

Author Affiliations +

Proceedings Volume 5422, Unmanned Ground Vehicle Technology VI; (2004) https://doi.org/10.1117/12.544118
Event: Defense and Security, 2004, Orlando, Florida, United States

Abstract

Casual daily observation provides convincing evidence that animals offer a wealth of inspiration for legged machines. However the lessons of animal motor science are largely written in the grammar of materials properties, and their meaning hidden by the complex interaction of multiply layered functional hierarchies. This paper will review some of the lessons of biological running that we have been able to articulate and begin to prescribe rigorously as manifest in the hexapod robot RHex. Although there is a long way to go before our mathematical analysis catches up with the full range of behaviors this remarkable machine exhibits, we are nevertheless able to make increasingly precise statements about certain control principles and the role they may play in RHex's performance. This ongoing research effort serves as a test case to underscore the huge and still largely untapped potential for mining bioinspiration in legged locomotion systems.

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Daniel E. Koditschek, Robert J. Full, and Martin Buehler "A principled approach to bio-inspired design of legged locomotion systems", Proc. SPIE 5422, Unmanned Ground Vehicle Technology VI, (2 September 2004); https://doi.org/10.1117/12.544118

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