Robot Design by Animation

overview

intro

data

model

optimization

simulation

hybrid_1

hybrid_2

conclusions

Motion Data

Figure 5
Motion Data of Cockroach (3377)
Figure 5.1
Footage of Cockroach (644)

Figure 5.2
More Footage of Cockroach (644)

Figure 6
Motion Data of Cockroach (644)
The motion data used here was provided by Mariano Garcia and The PolyPEDAL lab at Berkeley. The data was obtained by marking a cockroach at several points in the body and then digitizing high-speed footage of the animal running on a treadmill.
Figure 5 shows the top view of the data used in this document in a reference frame outside the treadmill.

Figure 6 shows the side view of a different set of data.

Figure 7
Footholds movie In this study, we initially only consider motion in the horizontal plane. For sprawled postured animals, the dynamics in the horizontal plane may be more relevant and may reveal the further advantages to sprawled posture (Kubow and Full, 1999).
The foot positions and contact times of the legs were estimated by looking at the times when the mid-point between the pretarsus and the tibia-tarsus joint (Figure 7) is not moving with respect to the ground.

Motion Data
Figure 5 Motion Data of Cockroach (3377) Figure 5.1 Footage of Cockroach (644) Figure 5.2 More Footage of Cockroach (644) Figure 6 Motion Data of Cockroach (644)	The motion data used here was provided by Mariano Garcia and The PolyPEDAL lab at Berkeley. The data was obtained by marking a cockroach at several points in the body and then digitizing high-speed footage of the animal running on a treadmill. Figure 5 shows the top view of the data used in this document in a reference frame outside the treadmill. Figure 6 shows the side view of a different set of data.
Figure 7 Footholds movie	In this study, we initially only consider motion in the horizontal plane. For sprawled postured animals, the dynamics in the horizontal plane may be more relevant and may reveal the further advantages to sprawled posture (Kubow and Full, 1999). The foot positions and contact times of the legs were estimated by looking at the times when the mid-point between the pretarsus and the tibia-tarsus joint (Figure 7) is not moving with respect to the ground.