Dynamic Locomotion - Maneuvering with Hexapedal Legged Robots 12+

📕 Biomimetics is the use of principles learned in biological systems to manmadesystems. The Sprawl family of robots are inspired by research on cockroachesand other agile runners. Without maneuverability, these robots are limited tostraight running and stability investigations, as well as reduced real-worldapplicability. Because of their performance and versatility, the Sprawlettesand iSprawl, two members of the Sprawl family, serve as good platforms tostudy biomimetic inspired maneuvers.In this work, Design of Experiment techniques are used to identify the singlemost effective turning method. Then this method is further studied to yield asingle variable which can provide a full range of turning behavior. Using thisvariable, system identification techniques were applied to identify bandwidthlimitations and characterize the turning dynamics. The similarities anddifferences in the Sprawlettes and iSprawl have contributed to theunderstanding and explanation of turning behavior for dynamic leggedrobots, and helped develop dynamic maneuverability concepts to aid futureinvestigations.