Dynamic Locomotion With One, Four and Six-Legged Robots

Abstract

This paper surveys the research in dynamically stable legged locomotion in our lab over the past ten years. Our robots share a reliance on the passive dynamics of their suitably designed dynamical system, low degree-of-freedom electric actuation coupled with a minimalistic approach to mechanical complexity, radially compliant leg designs which decouple the actuators from gravitational loads, minimal reliance on complex feedback-based controllers, a complete system design approach for dynamic mobility and autonomy, and increasingly, biological inspiration. Our one, four and six-legged running robots exemplify these fundamental design and control principles, which are critical to their success, measured in terms of stability, energy efficiency and speed.