Multimedia  

 

Volume 25 Issue 9 - Publication Date: 1 September 2006
Special Issue on CLAWAR 2004
 
iSprawl: Design and Tuning for High-speed Autonomous Open-loop Running
 
S. Kim Center for Design Research, Stanford University, Stanford, CA 94305-2232, USA, J. E. Clark GRASP Laboratory, University of Pennsylvania, Philadelphia, PA 19104, USA and M. R. Cutkosky Center for Design Research, Stanford University, Stanford, CA 94305-2232, USA
 
We describe the design features that underlie the operation of iSprawl, a small (0.3 kg) autonomous, bio-inspired hexapod that runs at 15 body-lengths/second (2.3 m/s). These features include a tuned set of leg compliances for efficient running and a light and flexible power transmission system. This transmission system permits high speed rotary power to be converted to periodic thrusting and distributed to the tips of the rapidly swinging legs. The specific resistance of iSprawl is approximately constant at 1.75 for speeds between 1.25 m/s and 2.5 m/s. Examination of the trajectory of the center of mass and the ground reaction forces for iSprawl show that it achieves a stable, bouncing locomotion similar to that seen in insects and in previous (slower) bio-inspired robots, but with an unusually high stride frequency for its size.
 
Multimedia Key
= Video = Data = Code = Image
 
Extension
Type
Description
1
Example 1: Video showing iSprawl running outdoors under remote control. (15.2 MB). Also available by clicking here.
2
Example 2:
High-speed video of iSprawl on a treadmill. (9.0 MB). Also available by clicking here.
 
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