In this dissertation, simple models of legged locomotion are developed mainly following the hypothesis that rather than reflecting two distinct phenomena, the fundamental gait patterns of walking and running can be described within a single conceptual framework that is based on compliant limb behavior. In Chapter 1, the most prominent mechanical paradigms of walking and running, namely the stif...

The paper introduces the Switching Four-bar Mechanism (sfm), a new low-dimensional kinematic abstraction forminiature legged robots, aimed at quasi-static motion planning in the horizontal plane. The model comprises a rigid torso and four rigid legs which engage in an alternating tetrapod gait. As the gait is executed, the torso and the legs form two switching four-bar linkages, parameterized b...

Numerical simulation and optimization of gaits for quadruped robots based on nonlinear multibody dynamics models of legged locomotion have made progress recently. A fully threedimensional dynamical model of Sony’s four-legged robot is used to state an optimal control problem for a symmetric, dynamically stable gait. The optimal control problem is solved by a sparse direct collocation method. Nu...

The spring-loaded inverted pendulum (SLIP) is a simple, passivelyelastic two-degree-of-freedom model for legged locomotion that describes the center-of-mass dynamics of many animal species and some legged robots. Conventionally, SLIP models employ a single support leg during stance and, while they can exhibit stable steady gaits when motions are confined to the sagittal plane, threedimensional ...

It is well known that legged locomotion is more efficient,speedy, and versatile than the one by track and wheeled vehicles when it operates in a rough terrain or in unconstructed environment. The potential advantages of legged locomotion can be indicated such as better mobility, obstacles overcoming ability, active suspension, energy efficiency, and achievable speed (Song & Waldron, 1989). Legg...

We introduce a low-dimensional kinematic abstraction—i.e., template—for miniature legged robots that can be used for quasi-static motion planning in the horizontal plane. The template comprises a rigid torso and four rigid legs which engage in an alternating tetrapod gait. As the gait is executed, the torso and the legs form two switching four-bar linkages, parameterized by the leg touchdown an...

Acoustic communications using a direct-sequence spread spectrum modulation with a RAKE receiver was tested during the KauaiEx experiment (in Hawaii). The oceanography was measured along the communications path during this test, so that the propagation of the communications transmissions could be subsequently modeled. Such simultaneous measurements provide a continuous picture of how the ocean w...

The Theo Jansen mechanism is gaining widespread popularity among the legged robotics community due to its scalable design, energy efficiency, low payload-to-machine-load ratio, bioinspired locomotion, and deterministic foot trajectory. In this paper, we perform for the first time the dynamic modeling and analysis on a four-legged robot driven by a single actuator and composed of Theo Jansen mec...