Dynamic legged locomotion for palm-size robots

David Zarrouk, Duncan W. Haldane, Ronald S. Fearing

Research output: Contribution to journalConference articlepeer-review

5 Scopus citations


Minimally-actuated palm-size robots are capable of running at speeds greater than 2 meters per second (20 body lengths per second), with leg stride rates of greater than 20 Hz. In this dynamic regime, passive stabilization is needed for roll-and-pitch instability. However, we have found that certain roll-oscillation modes can be used for continuous high speed turning. Other continuous turning modes have also been identified, such as modulating foot contact location through foot compliance, and controlling differential leg velocity. For the small minimallyactuated robots examined, the dynamically enhanced roll-steer mode showed the best turning rate, of over 8 degrees per step, but only appears at certain running frequencies. Interstride phase and velocity control appears promising as a mode for in-plane maneuverability for under-actuated robots.

Original languageEnglish
Article number94671S
JournalProceedings of SPIE - The International Society for Optical Engineering
Issue numberJanuary
StatePublished - 1 Jan 2015
Event2015 Micro- and Nanotechnology (MNT) Sensors, Systems, and Applications VII Conference - Baltimore, United States
Duration: 20 Apr 201524 Apr 2015


  • Legged locomotion
  • Minimally actuated robots
  • Robot steering

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering


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