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, lnom
Biped
Quadruped
Biped