Example Locomotion with Reconfiguration
In this example, Polypod reconfigures itself three times to optimize
its configuration for the type of locomotion required:
travelling down a long wooden planked corridor,
climbing under a metal railing and down a roughly 2 foot step,
traversing over undulating grassy terrain.
In each section, the respective configurations taken are:
Rolling loop, the most efficient gait for flat terrain
Earthworm, the best gait for obstacle crossing
Spider, the most stable gait for uncertain terrain
(1.8M)
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Click on the image for a rather large MPEG video (1100 frames with a resolution 320x200) of a
simulation, 1.84Mb.
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The last gait, the spider gait, has been designed but not yet simulated.
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Comments may be sent to
Mark Yim
at
mark@flamingo.stanford.edu
last updated 10/31/96