DASH: A dynamic 16g hexapedal robot

Author

Birkmeyer, P. ; Peterson, K. ; Fearing, R.S.

Author_Institution

Dept. of Electr. Engingeering & Comput. Sci., Univ. of California, Berkeley, CA, USA

fYear

2009

fDate

10-15 Oct. 2009

Firstpage

2683

Lastpage

2689

Abstract

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.

Keywords

kinematics; mobile robots; 16g hexapedal robot; DASH; autonomous robot; biomechanics; open-loop horizontal locomotion; single drive motor; smart composite manufacturing process; sprawled posture; spring-loaded inverted pendulum model; tripod gait; DC motors; Feedforward systems; Hip; Intelligent robots; Leg; Legged locomotion; Mobile robots; Piezoelectric actuators; Stability; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Conference_Location

St. Louis, MO

Print_ISBN

978-1-4244-3803-7

Electronic_ISBN

978-1-4244-3804-4

Type

conf

DOI

10.1109/IROS.2009.5354561

Filename

5354561