Slide 1

Slide 2

Motivation

Motivation

Motivation

Motivation

Motivation

Recent Work

Hypothesis

Biological Inspiration

Biological Inspiration

Biological Inspiration

Preflexes

Preflexes – Self-Stabilizing Posture

Preflexes – Visco-elastic Properties

Control Hierarchy

Modeling

Modeling - Mode Transitions

Modeling – Linear systems

Modeling – Non-linear 2 DOF

Modeling – Non-linear 2 DOF

Modeling – Non-linear 2 DOF

Modeling – Non-linear 2 DOF

Modeling – Non-linear 2 DOF

Modeling – Non-linear 2 DOF

Modeling – Non-linear 2 DOF

Modeling – Floquet Analysis

Modeling – System Behavior

Prototypes

Slide 30

Prototype - Design

Prototype - Fabrication

Prototype - Performance

Prototype - Performance

Prototype - Movie

Conclusions

Future Work

Questions?

Acknowledgements