Legged robots that balance
International Journal of Robotics Research
Understanding intelligence
The bow leg hopping robot
New Robotics: Design Principles for Intelligent Systems
Artificial Life
How the Body Shapes the Way We Think: A New View of Intelligence (Bradford Books)
How the Body Shapes the Way We Think: A New View of Intelligence (Bradford Books)
Locomotion skills for simulated quadrupeds
ACM SIGGRAPH 2011 papers
Towards a theoretical foundation for morphological computation with compliant bodies
Biological Cybernetics
Controlled passive dynamic running experiments with the ARL-monopod II
IEEE Transactions on Robotics
A 2-D Passive-Dynamic-Running Biped With Elastic Elements
IEEE Transactions on Robotics
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In recent years, there has been increasing interest in the study of gait patterns in both animals and robots, because it allows us to systematically investigate the underlying mechanisms of energetics, dexterity, and autonomy of adaptive systems. In particular, for morphological computation research, the control of dynamic legged robots and their gait transitions provides additional insights into the guiding principles from a synthetic viewpoint for the emergence of sensible self-organizing behaviors in more-degrees-of-freedom systems. This article presents a novel approach to the study of gait patterns, which makes use of the intrinsic mechanical dynamics of robotic systems. Each of the robots consists of a U-shaped elastic beam and exploits free vibration to generate different locomotion patterns. We developed a simplified physics model of these robots, and through experiments in simulation and real-world robotic platforms, we show three distinctive mechanisms for generating different gait patterns in these robots.