"Stride Period Adaptation for a Biomimetic Running Hexapod"

Cham, J. G., Karpick, J. and Cutkosky, M. R.

Extension	Media Type	Preview	Description
1	video		Video (3.7Mb) showing "Sprawlita" running despite large disturbances. This disturbance rejection is accomplished without sensory feedback through the robot's passive properties and open-loop control.
2	video		Video (1.6Mb) showing "Sprawlita" overcoming hip-height obstacles.
3	video		Video (2.8Mb) showing sample results of implementing the adaptation strategy based on binary contact information from a switch in one the robot's feet. The video shows experiments on flat ground in which the robot's stride period was started at suboptimal values.
4	video		Video (3.9Mb) sample results of the adaptation strategy on an uphill slope of 5 degrees. The video shows experiments in which the robot's stride period was started at suboptimal values.

Please direct questions to jgcham@cdr.stanford.edu