Intro
Biomimesis
Design
Analysis
Conclusions
Simplest Locomotion Model
•
Body has 2 planar degrees of freedom
–
x, z
–
mass
–
•
4 massless legs
–
freely rotating hip joint
–
prismatic leg joint - damped linear spring
–
3 parameters per leg
–
•
6 parameters to tune, assuming symmetry
g
g
k, b,
l
nom
Biped
Quadruped
Biped