Computational Neuromechanics: Programming Work in Biological Systems *AND* RHex: The CNM Hexapod
Abstract
Most legged animals whose running has been studied exhibit mass center trajectories closely resembling those of a pogo-stick. Over the course of our five year DARPA/ONR/SPAWAR sponsored project in Computational Neuromechanics and its application to robotics, we have begun to answer the questions, how, why, and when, in a mathematically rigorous and biologically testable manner. Addressing these simple questions has simultaneously helped advance animal motion science as well as accelerated progress in the design and control of useful legged robots.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jan 01, 2004
- Accession Number
- ADA432902
Entities
People
- Daniel E. Koditschek
Organizations
- University of Michigan