Legged Locomotion: Design and Model

Although modern wheeled and tracked vehicles can best the speed of any animal, they still cannot challenge animals versatility and agility over natural, rough terrain. Legged machines have long held the promise of achieving such agility, but only recently have robots such as RHex and iSprawl been built which are capable of running at multiple body-lengths per second and over unstructured terrain. This research has a particular focus on designing, dynamically analyzing, and manufacturing advanced concepts legged robots. A major goal is to develop multi-modal vehicles, i.e., vehicles that can crawl, walk, run, climb, and even swim. More information on this research can be found on the STRIDE Laboratory web site.