The "Sprawl" family of hand-sized hexapedal robots are prototypes designed to test ideas about locomotion dynamics, leg design and leg arrangement and to identify areas that can be improved by Shape Deposition Manufacturing.

    Sprawl robots are some of the fastest (up to 5 body-lengths per second) and most robust (hip-height obstacles) legged robots out there. They are the result of close collaboration between roboticists, manufacturing engineers and biologists. 

    Please read our paper, Biomimetic Design and Fabrication of a Hexapedal Running Robot for an overview. Find movies of our robots by following the "family tree" below, which chronicles the generations of prototypes.


    iSprawl: a fully independent Sprawl robot that is a bridge to the new RiSE project.

    "Sprawlettes"
    Batch-fabricated modified Sprawls with embedded circuitboard and air manifold.
    Details

    "v Sprawl"
    Dynamic simulation of Sprawlita in ADAMS.
    Details

    "Sprawley Davidson"
    Prototype legs with valves mounted directly above the piston for faster actuator speed. Sprawley has been clocked at roughly 5 body-lengths per second!
    Video (5M)
    Hi-speed Video (6M)
    Close Up

    "SprawlEx"
    Prototype legs with SDM flexible linkage for leg stroke extension
    Hispeed Video
    Description

    Cascaded Pistons
    Prototype legs with two pistons cascaded for longer leg stroke
    Hi-speed Video (6M)
    Close Up

    "Pseudo-sprawls"
    Reconfigurable versions of Sprawlita for distribution among different Universities
    Close Up

                                                 
    "Sprawlita"
    First prototype built with SDM technology. Servos and pistons are embedded in the robot's structure. Clocked at 3 body-lengths per second, Sprawlita can overcome hip-height obstacles.
    Description
    Watch Sprawlita in this VIDEO made for Australian Television!
    Watch Sprawlita's Grand Day Out in this VIDEO
                                                 
    "Mini-Sprawl"
    The first hand-sized dynamic running robot, Mini-sprawl was quickly built with hot glue and tie-wraps.
    Description
    More videos

    "Franken-sprawl"
    A salvaged Sprawl was redesigned with high-flowrate valves and flexible SDM leg-hip joints.
    Leg description

    "Sprawl"
    The first full prototype built at our lab, Sprawl stands as one of the first fully dynamic locomoting hexapods
    Description



      FUN STUFF
      NEW - "Hydro-Sprawl"
      The first fully autonomous robot in the sprawl series. This robot uses a hydraulic system to actuate its alternating tripods.
      Movie (1.7MB)


      "Sprawl-o-vision"
      Modern technology now makes it possible for you to experience what it's like to be a Sprawl robot!
      Movie (7M)

      "Mark, Moto and Sprawlex"
      Movie (4M)

    You'll need Quicktime to watch these movies

    For questions or comments, please email: "biomimetics@cdr.stanford.edu"