Intro
SDM
Design
Dynamics
Conclusions
Cockroach Geometry
•Passive
Compliant Hip Joint
•Effective
Thrusting Force
Functional Biomimesis
•Damped,
Compliant Hip Flexure
•Embedded Air
Piston
Robot Implementation
Robot Design
•Rotary Joint
•Prismatic Joint
Cham et al., 2000, Clark et al.,
2001