Comparing the locomotion dynamics of a cockroach and a shape deposition manufactured biomimetic robot

Animal Running - the SLIP model

Intro

SDM

Design

Dynamics

Conclusions

Human

TWO-

Legged

Cockroach

Crab

Legged

EIGHT-

Dog

Legged

FOUR-

V

e

r

t

i

c

a

l

F

o

r

c

e

B

o

d

y

W

e

i

g

h

t

F

o

r

c

e

T

i

m

e

Fore-aft

Blickhan 1989

SIX-

Legged

Spring-Loaded

Inverted Pendulum

SLIP

Cavagna et al., 1975