Lightweight robot locomotion on granular media

ORAL

Abstract

We present an experimental and computer simulation study of a small, light-weight, biologically inspired robot running on a model granular medium (GM), 3 mm diameter glass particles. The six-legged RoACH robot (10 cm long, 25 grams) utilizes an alternating tripod gait to run at speeds up to 25 cm/sec. Forward speed increases with increasing limb frequency $0

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Authors

  • Tingnan Zhang

    Georgia Institute of Technology

  • Feifei Qian

    Georgia Institute of Technology

  • Jeffrey Shen

    Georgia Institute of Technology

  • Chen Li

    Georgia Institute of Technology

  • Aaron Hoover

    Olin College

  • Paul Birkmeyer

    University of California at Berkeley

  • Ronald Fearing

    University of California at Berkeley

  • Daniel I. Goldman

    Georgia Tech, Georgia Institute of Technology, Georgia Tech School of Physics