Individual leg forces
•Sprawlita drags middle and rear foot
•
•Individual legs have
functions dissimilar
from cockroach legs
•
•More questions
–Relative contact time
•
Intro
SDM
Design
Dynamics
Conclusions
ms
mN
0
-6
140
0
12
0
60
140
-6
0
10
0
-6
140
0
10
0
50
-2
0
4
0
50
-2
0
4
0
20
50
-2
0
4
ms
N
Front Leg
Middle Leg
Hind Leg
filtered vertical force    
filtered horizontal force
Dragging