1STAR, A one-actuator steerable robot

David Zarrouk, Ronald S. Fearing

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

11 Scopus citations


We present a novel dynamic gait to control in-plane locomotion [1] (forward, back, clockwise and counter clockwise rotations) of a compliant legged hexapedal robot using a single actuator. The gait exploits the compliance disparity between alternate stance tripods, to generate rotation by controlling the acceleration of the robot [2]. The direction of turning depends on the configuration of the legs - tripod left or right- and the direction of the acceleration. Alternating acceleration in successive steps allows for continuous rotation in the desired direction. A simplified model of a robot is made and a numerical simulation was performed to analyze the behavior and optimize robot parameters. The robot is capable of rotating with a coefficient of friction as low as 0.2 but its performance improves as the COF increases up to 0.6. Beyond that, little change is noticed.

Original languageEnglish
Title of host publication2014 IEEE International Conference on Robotics and Automation, ICRA 2014
PublisherInstitute of Electrical and Electronics Engineers
Number of pages1
ISBN (Electronic)9781479936854, 9781479936854
StatePublished - 22 Sep 2014
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 31 May 20147 Jun 2014

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


Conference2014 IEEE International Conference on Robotics and Automation, ICRA 2014
CityHong Kong

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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