DASH: A dynamic 16g hexapedal robot

DASH is a small, lightweight, power autonomous robot capable of running at speeds up to 15 body lengths per second (see video). Drawing inspiration from biomechanics, DASH has a sprawled posture and uses an alternating tripod gait to achieve dynamic open-loop horizontal locomotion. The kinematic des...

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Bibliographic Details
Published in2009 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 2683 - 2689
Main Authors Birkmeyer, P., Peterson, K., Fearing, R.S.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2009
Subjects
DC motors
Feedforward systems
Hip
Intelligent robots
Leg
Legged locomotion
Mobile robots
Piezoelectric actuators
Stability
Vehicle dynamics
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Summary:DASH is a small, lightweight, power autonomous robot capable of running at speeds up to 15 body lengths per second (see video). Drawing inspiration from biomechanics, DASH has a sprawled posture and uses an alternating tripod gait to achieve dynamic open-loop horizontal locomotion. The kinematic design which uses only a single drive motor and allows for a high power density is presented. The design is implemented using a scaled Smart Composite Manufacturing (SCM) process. Evidence is given that DASH runs with a gait that can be characterized using the spring-loaded inverted pendulum (SLIP) model. In addition to being fast, DASH is also well suited to surviving falls from large heights, due to the uniquely compliant nature of its structure.
ISBN:9781424438037
1424438039
ISSN:2153-0858
DOI:10.1109/IROS.2009.5354561