| Volume 25 Issue 9 - Publication Date: 1 September 2006 |
| Special Issue on CLAWAR 2004 |
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| iSprawl: Design and Tuning for
High-speed Autonomous Open-loop Running |
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| 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. |
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| 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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