|Title||iSprawl : Autonomy, and the Effects of Power Transmission|
|Publication Type||Conference Proceedings|
|Year of Conference||2004|
|Authors||Kim, S., J. E. Clark, and M. R. Cutkosky|
|Conference Name||Climbing and Walking Robots|
|Conference Location||Madrid, Spain|
We describe the design features that underlie the operation ofiSprawl, 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.