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Quadruped Locomotion page.
Links on Robot Leg Design

The following sites illustrate different possibilities for robot leg designs.

Monopod and Hopping Robots

  • Various Hoppers - see MIT Leglab, NASA frog, Berkeley frog
    MIT hexapod
    leg evolution
    [Hannibal legs]

    Bipeds

  • Passive-dynamic bipeds - see Baps, Cornell.
  • Passive-knee, running biped - see Iguana
  • 16-DOF biped - see Troody.
  • Misc biped designs - see Delft

    Quadrupeds

  • Many complex quadruped legs - Kimura.
  • 1-DOF quadruped legs - see Scout.
  • 8-DOF quadruped legs - see R.Dog.
  • Salamander sprawled wiggle-walk - EPFL
  • Screw-driven 11,000 pound monster - see Dino

    Hexapods + Octopods

  • Classic sprawled posture 2-DOF legs - see JPL, K2T, Robobug
  • Classic sprawled posture 3-DOF legs - see Scorpion, Tarry
  • Classic sprawled posture 4-DOF legs - see Robot II
  • Pantograph legs - Waterloo [1] [2], Boadicea, Spawlita [1] [2], reaching legs, mhex.
  • Pantograph legs - see Brooks [Atilla], namely "Small Planetary Rovers", by C.M. Angle et al (1990).
  • Pantograph leg evolution - see Hannibal.
  • Geared, offset-pivot, stiff-legged octopod - see Spider.
  • 1-DOF jumping hexapod - see Sprawlita.
  • Various pneumatic drives with cartesian table legs - see SAE
  • Minimalist designs - see Beam
  • Misc: parallel kinematics

    Rotary Legs

  • Cockroach Robot Legs + Whegs - see Quinn, ie "Insect Designs for Improved Robot Mobility", by R.D. Quinn et al (2001).
  • Rotary legs - see Rhex, McGill.
  • Leg-Wheel - see Walk'n'Roll
  • Montage: rotary, 1-DOF, passive knees, monopod - see McGill.

    Compliance

  • Rizzi

    Miscellaneous

  • Biological-inspired walking - see Berkeley
  • MIT LegLab - many designs, inc spring-loaded legs - see MIT
  • Modular snake-like drive - see ISI
  • Center-of-Mass walking - see T.Edwards
  • Crocodiles galloping - see U.Florida, Reptilis - wow! [it's all in the spine].

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    © Oricom Technologies, April 2003, updated Dec 2005