Intro
Biomimesis
Design
Analysis
Conclusions
Simple Model
Body has 3 planar
degrees of freedom
x, z, theta
mass, inertia
3 massless legs (per
tripod)
rotating hip joint -
damped torsional spring
prismatic leg joint -
damped linear spring
6 parameters per
leg
18 parameters to tune - TOO MANY!
Full 3D model
Planar model
Symmetry
assumption
K, B, qnom
k, b, lnom
