Biomimetic design and fabrication of a hexapedal running robot

The green leafhopper,Cicadella viridis(Hemiptera, Auchenorrhyncha, Cicadellidae), jumps with near-constant acceleration

“…Another example of passive stabilisation is the preflex, defined by Brown and Loeb (Brown and Loeb, 2000) as an intrinsic neuromusculoskeletal response to disturbances with absolute absence of system delay. For instance, preflexes in cockroaches are important components of a locomotion stabilisation system independent from the neuro-physiological system, and completely intrinsic in their leg's structure (Full et al, 1998;Clark et al, 2001).…”

Kinematic control and posture optimization of a redundantly actuated quadruped robot

“…This type of movement is often mimicry of a specific living organism's methods of motion, which allows for much more robustness when encountering non-level terrain topology. Many robots are based on the movement of animals or insects [5][6][7], such as RHex [8,9], whose movement was developed based on the concept of a cockroach, as shown in Figure 1 RHex serves as an effective all-terrain vehicle for its size with a reasonably simple design model. With six actuators, one for each leg, RHex offers a straightforward platform for controller development as well.…”

A biologically inspired micro-vehicle capable of aerial and terrestrial locomotion

“…Though capable of waking using 2 bars of air pressure it has not yet carried its own power supply. Sprawlita [7] is a 16cm long hexapod which uses a combination of servomotors and air cylinders. Sprawlita attains a top speed of 4.5 body lengths per second, which is fast compared to existing robots of similar size.…”