Fast and Robust Legged Locomotion

Overview

Fast, Robust Rough Terrain Traversal

Traditional Approaches to Legged Systems

Biological Example

Biomimesis Options

Biological Inspiration

Is Passive Enough?

Geometry

Sprawlita

Movie

Mechanical System Properties

“Simple” Model

Simplest Locomotion Model

Modeling assumptions

Modeling assumptions

Modeling assumptions

Modeling assumptions

Modeling assumptions

Modeling assumptions

Modeling assumptions

Modeling assumptions

Non-linear analysis tools

Non-linear analysis tools

Non-linear analysis tools

Perturbation Response

Analysis trends

Design Example

Locomotion Insight

Summary and Conclusions

Future Work

Thanks!