Biorobotics Laboratory BioRob

Simon Capern (Semester project 2003)

Development of a salamander robot simulation

The aim of this project was to develop a physical simulation of a salamander robot to help the construction of a real salamander-like robot. We wanted to be able to modify all parameters of the controllers and the limbs geometry. The robot has two locomotion modes: the walk and the snake-like locomotion.

Project report:

Project Report (in pdf format): report.pdf

Sample movies:

Snake-like Locomotion: gif movie (0.6MB),
Salamander walking:
- Optimized Limbs Geometry: gif movie (1.0MB),
- Optimized (insectoid!) Limbs Geometry: gif movie (1.2MB),
- Obstacle: gif movie (0.9MB),