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Dynamic Locomotion With One, Four and Six-Legged Robots

机译：具有一个，四个和六个腿的机器人的动态运动

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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.

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