Characterization of dynamic behaviors in a hexapod robot

Haldun Komsuoglu, Anirudha Majumdar, Yasemin Ozkan Aydin, Daniel E. Koditschek

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations


This paper investigates the relationship between energetic efficiency and the dynamical structure of a legged robot’s gait.We present an experimental data set collected from an untethered dynamic hexapod, EduBot [1] (a RHex-class [2] machine), operating in four distinct manually selected gaits. We study the robot’s single tripod stance dynamics of the robot which are identified by a purely jointspace-driven estimation method introduced in this paper. Our results establish a strong relationship between energetic efficiency (simultaneous reduction in power consumption and increase in speed) and the dynamical structure of an alternating tripod gait as measured by its fidelity to the SLIP mechanics—a dynamical pattern exhibiting characteristic exchanges of kinetic and spring-like potential energy [3]. We conclude that gaits that are dynamic in this manner give rise to better utilization of energy for the purposes of locomotion.

Original languageEnglish (US)
Title of host publicationExperimental Robotics - The 12th International Symposium on Experimental Robotics
EditorsOussama Khatib, Vijay Kumar, Gaurav Sukhatme
PublisherSpringer Verlag
Number of pages18
ISBN (Electronic)9783642285714
StatePublished - 2014
Externally publishedYes
Event12th International Symposium on Experimental Robotics, ISER 2010 - New Delhi, Agra, India
Duration: Dec 18 2010Dec 21 2010

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


Other12th International Symposium on Experimental Robotics, ISER 2010
CityNew Delhi, Agra

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Artificial Intelligence


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