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
The last gait, the spider gait, has been designed but not yet simulated.
Click on the image for a rather large MPEG video (1100 frames with a resolution 320x200) of a
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last updated 10/31/96