Highly dynamic, multi-terrain legged locomotion

Loading Physical Intelligence Department

Objectives:

  • Legged vertebrate animals exhibit a stunning capability for dynamic locomotion, much more versatile, agile, and robust then extant legged robotic systems.

 

  • In our approach we convert, implement, and test blueprints from biological research fields like functional anatomy, neurocontrol, and general biomechanics into a robotic environment (biped, quadruped robot). We are using bio-inspired robotic systems as physical testing and simulation platforms that produce high-dimensional research data under physiological conditions. Eventually, the goal is to compare results with the original system (legged vertebrate animal) and, if possible, insert new understanding back to biology.

 

  • Developing a robot which can run across the surface of water in a fashion similar to the Basiliscus basiliscus and other water-running lizards.

Past Members:

Steven Floyd

Hyun Soo Park

Project Members:

Alexander Sprowitz

Selected Research Results and Papers

A Novel Water Running Robot Inspired by Basilisk Lizards

This paper introduces a novel robot which can run on the surface of water in a manner similar to basilisk lizards.  Previous studies on the lizards themselves have characterized their method of propulsion and their means of staying afloat. By slapping and stroking their feet into the water, the lizard effects a momentum transfer which provides both forward thrust and lift. The design of a biomimetic robot utilizing similar principles is discussed, modeled, and prototyped. Functionally, the robot uses a pair of identical four bar mechanisms, with a 180deg phase shift to achieve bipedal locomotion on the water’s surface. Computational and experimental results are presented and reviewed with the focus being a maximization of the lift to power ratio. After optimization, two legged models can experimentally provide 12-15 g/W of lift while four legged models can provide 50 g/W of lift. This work opens the door for bipedal and quadrupedal robots to become ambulatory over both land and water, and represents a first step toward studies in amphibious stride patterns; step motions equally conducive to propulsion on water and land.

Floyd, Steven, Terence Keegan, John Palmisano, and Metin Sitti. “A Novel Water Running Robot Inspired by Basilisk Lizards.” In IROS, 5430–36, 2006.

Selected Videos

Water Running Robot Slow Motion

Water Running Robot Test

Water Running Robot Test B

A Novel Water Running Robot Inspired by Basilisk Lizards

A Novel Water Running Robot Inspired by Basilisk Lizards

A Novel Water Running Robot Inspired by Basilisk Lizards

List of Publications

2010

 

Roll and pitch motion analysis of a biologically inspired quadruped water runner robot

HS Park, S Floyd, M Sitti

The International Journal of Robotics Research

 

 

2009

 

Compliant footpad design analysis for a bio-inspired quadruped amphibious robot

HS Park, M Sitti

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

 

 

Dynamic modeling and analysis of pitch motion of a basilisk lizard inspired quadruped robot running on water

HS Park, S Floyd, M Sitti

Robotics and Automation, 2009. ICRA'09. IEEE International Conference on ...

 

 

2008

 

Design and development of the lifting and propulsion mechanism for a biologically inspired water runner robot

S Floyd, M Sitti

Robotics, IEEE Transactions on 24 (3), 698-709

 

 

Dynamic modeling and analysis of pitch motion of a basilisk lizard inspired quadruped robot running on water

HS Park, S Floyd, M Sitti

Robotics and Automation, 2009. ICRA'09. IEEE International Conference on ...

 

 

Performance of different foot designs for a water running robot

S Floyd, S Adilak, S Ramirez, R Rogman, M Sitti

Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on ...

 

2006

 

A Novel Water Running Robot Inspired by Basilisk Lizards.

S Floyd, T Keegan, J Palmisano, M Sitti

IROS, 5430-5436