Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

SAGETRACK

Sign In to gain access to subscriptions and/or personal tools.
The International Journal of Robotics Research
This Article
Right arrow Full Text (PDF)
Right arrow Multimedia
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Right arrow Citation Map
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrowRequest Permissions
Right arrow Request Reprints
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via Web of Science (4)
Right arrow Citing Articles via Google Scholar
Right arrow Citing Articles via Scopus
Google Scholar
Right arrow Articles by Kim, S.
Right arrow Articles by Cutkosky, M. R.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Complore   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati   Add to Twitter  
What's this?

iSprawl: Design and Tuning for High-speed Autonomous Open-loop Running

Sangbae Kim

Center for Design Research Stanford University Stanford, CA 94305-2232, USA, sangbae{at}stanford.edu

Jonathan E. Clark

GRASP Laboratory University of Pennsylvania Philadelphia, PA 19104, USA, jonclark{at}grasp.upenn.edu

Mark R. Cutkosky

Center for Design Research Stanford University Stanford, CA 94305-2232, USA, cutkosky{at}stanford.edu

We describe the design features that underlie the operation of iSprawl, a small (0.3 kg) autonomous, bio-inspired hexapod that runs at 15 body-lengths/second (2.3 m/s). These features include a tuned set of leg compliances for efficient running and a light and flexible power transmission system. This transmission system permits high speed rotary power to be converted to periodic thrusting and distributed to the tips of the rapidly swinging legs. The specific resistance of iSprawl is approximately constant at 1.75 for speeds between 1.25 m/s and 2.5 m/s. Examination of the trajectory of the center of mass and the ground reaction forces for iSprawl show that it achieves a stable, bouncing locomotion similar to that seen in insects and in previous (slower) bio-inspired robots, but with an unusually high stride frequency for its size.

Key Words: biorobotics • legged locomotion • hexapod • compliance

The International Journal of Robotics Research, Vol. 25, No. 9, 903-912 (2006)
DOI: 10.1177/0278364906069150
Add to CiteULike CiteULike   Add to Complore Complore   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati   Add to Twitter Twitter    What's this?