Heterogeneous Leg Stiffness and Rollin Dynamic Running

• Introduce bounding-in-place (“BIP”) template model for straight-ahead level-ground running.

• Present numerical results that suggest asymmetric leg compliance ratios decrease time to recover from disturbances to roll motion.

• Present preliminary experimental data which weakly corroborates numerical results.

Sam Burden Electrical and Engineering, Univ. of Washington, Seattle, USA

Jon Clark, Joel Weingarten, Haldun Komsuoglu, Dan Koditschek Electrical and Systems Engineering, Univ. of Pennsylvania, Philadelphia, USA

EduBot, a RHex-like hexapedal running robot.