iSprawl: Design and Tuning for High-speed Autonomous Open-loop Running

We describe the design features that underlie the operation of iSprawl, a small (0.3 Kg) autonomous, bio-inspired hexapod that runs at 15 body-lengths/second (2.3 m/s). These features include a tuned set of leg compliances for efficient running and a light and flexible power transmission system. This transmission system permits high speed rotary power to be converted to periodic thrusting and distributed to the tips of the rapidly swinging legs. The specific resistance of iSprawl is

• Type: Journal
• Year: 2006
• Where: IJRR
• Authors: Sangbae Kim, Jonathan E. Clark, Mark R. Cutkosky
• Keywords: Bio-inspired Hexapod, Flexible Power Transmission, IJRR 2006, Transmission System