Sangbae Kim, Jonathan E. Clark, and Mark R. Cutkosky
Department of Mechanical Engineering
Stanford University, Stanford, CA 9430
We describe the design features that underlie the operation of iSprawl, a small (0.3 Kg) autonomous, bio-inspired hexapod that runs at 15 bodylengths/ second. These features include a light and flexible power transmission system that permits high speed rotary power to be converted to periodic thrusting and distributed to the tips of the legs, and a tuned set of leg compliances for efficient running. Examination of the trajectory of the center of mass and the ground reaction forces for iSprawl show that it achieves the same stable, bouncing locomotion seen in insects and in previous (slower) bio-inspired robots.