Lightweight robot locomotion on granular media

We present an experimental and computer simulation study of a small, light-weight, biologically inspired robot running on a model granular medium (GM), 3 mm diameter glass particles. The six-legged RoACH robot (10 cm long, 25 grams) utilizes an alternating tripod gait to run at speeds up to 25 cm/sec. Forward speed increases with increasing limb frequency $0

To cite this abstract, use the following reference: http://meetings.aps.org/link/BAPS.2011.DFD.M28.1