Biorobotics Laboratory BioRob

Roombots with compliant elements



This video shows some of the results of a study on the exploitation of compliance in structures made of two Roombots. Two types of in-series compliant elements were tested (Compliant Rod (CR) and Torsional Spring (TS)), with five different stiffness values for each of them. We ran dedicated on-line locomotion parameter optimizations for six different configurations (softest, medium, and stiffest element of CR and TS). Each of these sets of parameters was then tested on the corresponding five different levels of compliance. Here, for each set, we present four selected experiments. Highlighted in green are the compliant structurea for which the parameters were optimized. All videos are 2x speed. This work has been accepted to IROS 2013.