A Physical Model for Dynamical Arthropod Running on Level Ground

摘要: Arthropods with their extraordinary locomotive capabilities have inspired roboticists, giving rise to major accomplishments in robotics research over the past decade. Most notably bio-inspired hexapod robots using only task level open-loop controllers [22, 9] exhibit stable dynamic locomotion highly broken and unstable terrain. We present experimental data on dynamics of SprawlHex— a robot adjustable body sprawl — consisting time trajectory full configuration single leg ground reaction forces. The SprawlHexis compared contrasted that insects. SprawlHexdynamics has qualitative similarities insects both sagittal horizontal plane. SprawlHexpresents step towards construction an effective physical model study arthropod locomotion.