Oricom Technologies Robot Leg Design Page

Return to: 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

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 - 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

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].