The roles of biological springs in vertebrate animals and their implementations in compliant
legged robots offer significant advantages over the rigid legged ones in certain types of …

Several arboreal mammals have the ability to rapidly and repeatedly jump vertical distances
of 2 m, starting from rest. We characterize this performance by a metric we call vertical …

This paper reviews the state-of-the-art in robotic tails intended for inertial adjustment
applications on-board mobile robots. Inspired by biological tails observed in nature, robotic …

In this work we present a new robotic system, Salto-1P, for exploring extreme jumping
locomotion. Salto-1P weighs 0.098 kg, and has an active leg length of 14.4 cm. The robot is …

This paper presents a novel CPG-based gait generation of the curved-leg hexapod robot
that can enable smooth gait transitions between multi-mode gaits. First, the locomotion of the …

As dynamic robot behaviors become more capable and well understood, the need arises for
a wide variety of equally capable and systematically applicable transitions between them …

This paper develops a comparative framework for the design of actuated inertial
appendages for planar aerial reorientation. We define the inertial reorientation template, the …

Nature abounds with examples of superior mobility through the fusion of aerial and ground
movement. Drawing inspiration from such multimodal locomotion, we introduce a high …

In this paper we explore the design space of tails intended for self-righting a robot's body
during free fall. Conservation of total angular momentum imposes a dimensionless index of …

Mapping and exploration are essential tasks for swarm robotic systems. These tasks
become extremely challenging when localization information is not available. In this paper …