CINXE.COM

<!DOCTYPE html> <html class="client-nojs vector-feature-language-in-header-enabled vector-feature-language-in-main-page-header-disabled vector-feature-page-tools-pinned-disabled vector-feature-toc-pinned-clientpref-1 vector-feature-main-menu-pinned-disabled vector-feature-limited-width-clientpref-1 vector-feature-limited-width-content-enabled vector-feature-custom-font-size-clientpref-1 vector-feature-appearance-pinned-clientpref-1 vector-feature-night-mode-enabled skin-theme-clientpref-day vector-sticky-header-enabled vector-toc-available" lang="en" dir="ltr"> <head> <meta charset="UTF-8"> <title>Robot locomotion - Wikipedia</title> <script>(function(){var className="client-js vector-feature-language-in-header-enabled vector-feature-language-in-main-page-header-disabled vector-feature-page-tools-pinned-disabled vector-feature-toc-pinned-clientpref-1 vector-feature-main-menu-pinned-disabled vector-feature-limited-width-clientpref-1 vector-feature-limited-width-content-enabled vector-feature-custom-font-size-clientpref-1 vector-feature-appearance-pinned-clientpref-1 vector-feature-night-mode-enabled skin-theme-clientpref-day vector-sticky-header-enabled vector-toc-available";var cookie=document.cookie.match(/(?:^|; )enwikimwclientpreferences=([^;]+)/);if(cookie){cookie[1].split('%2C').forEach(function(pref){className=className.replace(new RegExp('(^| )'+pref.replace(/-clientpref-\w+$|[^\w-]+/g,'')+'-clientpref-\\w+( |$)'),'$1'+pref+'$2');});}document.documentElement.className=className;}());RLCONF={"wgBreakFrames":false,"wgSeparatorTransformTable":["",""],"wgDigitTransformTable":["",""],"wgDefaultDateFormat":"dmy", "wgMonthNames":["","January","February","March","April","May","June","July","August","September","October","November","December"],"wgRequestId":"f5471240-59e9-4a67-b2f7-2405dd7b80e1","wgCanonicalNamespace":"","wgCanonicalSpecialPageName":false,"wgNamespaceNumber":0,"wgPageName":"Robot_locomotion","wgTitle":"Robot locomotion","wgCurRevisionId":1275712398,"wgRevisionId":1275712398,"wgArticleId":1167036,"wgIsArticle":true,"wgIsRedirect":false,"wgAction":"view","wgUserName":null,"wgUserGroups":["*"],"wgCategories":["CS1 maint: multiple names: authors list","Webarchive template wayback links","Articles with short description","Short description is different from Wikidata","All articles with minor POV problems","Articles with minor POV problems from July 2021","Robot locomotion","Robot control"],"wgPageViewLanguage":"en","wgPageContentLanguage":"en","wgPageContentModel":"wikitext","wgRelevantPageName":"Robot_locomotion","wgRelevantArticleId":1167036,"wgIsProbablyEditable":true, "wgRelevantPageIsProbablyEditable":true,"wgRestrictionEdit":[],"wgRestrictionMove":[],"wgNoticeProject":"wikipedia","wgCiteReferencePreviewsActive":false,"wgFlaggedRevsParams":{"tags":{"status":{"levels":1}}},"wgMediaViewerOnClick":true,"wgMediaViewerEnabledByDefault":true,"wgPopupsFlags":0,"wgVisualEditor":{"pageLanguageCode":"en","pageLanguageDir":"ltr","pageVariantFallbacks":"en"},"wgMFDisplayWikibaseDescriptions":{"search":true,"watchlist":true,"tagline":false,"nearby":true},"wgWMESchemaEditAttemptStepOversample":false,"wgWMEPageLength":30000,"wgEditSubmitButtonLabelPublish":true,"wgULSPosition":"interlanguage","wgULSisCompactLinksEnabled":false,"wgVector2022LanguageInHeader":true,"wgULSisLanguageSelectorEmpty":false,"wgWikibaseItemId":"Q7353391","wgCheckUserClientHintsHeadersJsApi":["brands","architecture","bitness","fullVersionList","mobile","model","platform","platformVersion"],"GEHomepageSuggestedEditsEnableTopics":true,"wgGETopicsMatchModeEnabled":false, "wgGEStructuredTaskRejectionReasonTextInputEnabled":false,"wgGELevelingUpEnabledForUser":false};RLSTATE={"ext.globalCssJs.user.styles":"ready","site.styles":"ready","user.styles":"ready","ext.globalCssJs.user":"ready","user":"ready","user.options":"loading","ext.cite.styles":"ready","skins.vector.search.codex.styles":"ready","skins.vector.styles":"ready","skins.vector.icons":"ready","ext.wikimediamessages.styles":"ready","ext.visualEditor.desktopArticleTarget.noscript":"ready","ext.uls.interlanguage":"ready","wikibase.client.init":"ready","ext.wikimediaBadges":"ready"};RLPAGEMODULES=["ext.cite.ux-enhancements","mediawiki.page.media","site","mediawiki.page.ready","mediawiki.toc","skins.vector.js","ext.centralNotice.geoIP","ext.centralNotice.startUp","ext.gadget.ReferenceTooltips","ext.gadget.switcher","ext.urlShortener.toolbar","ext.centralauth.centralautologin","mmv.bootstrap","ext.popups","ext.visualEditor.desktopArticleTarget.init","ext.visualEditor.targetLoader", "ext.echo.centralauth","ext.eventLogging","ext.wikimediaEvents","ext.navigationTiming","ext.uls.interface","ext.cx.eventlogging.campaigns","ext.cx.uls.quick.actions","wikibase.client.vector-2022","ext.checkUser.clientHints","ext.growthExperiments.SuggestedEditSession"];</script> <script>(RLQ=window.RLQ||[]).push(function(){mw.loader.impl(function(){return["user.options@12s5i",function($,jQuery,require,module){mw.user.tokens.set({"patrolToken":"+\\","watchToken":"+\\","csrfToken":"+\\"}); }];});});</script> <link rel="stylesheet" href="/w/load.php?lang=en&modules=ext.cite.styles%7Cext.uls.interlanguage%7Cext.visualEditor.desktopArticleTarget.noscript%7Cext.wikimediaBadges%7Cext.wikimediamessages.styles%7Cskins.vector.icons%2Cstyles%7Cskins.vector.search.codex.styles%7Cwikibase.client.init&only=styles&skin=vector-2022"> <script async="" src="/w/load.php?lang=en&modules=startup&only=scripts&raw=1&skin=vector-2022"></script> <meta name="ResourceLoaderDynamicStyles" content=""> <link rel="stylesheet" href="/w/load.php?lang=en&modules=site.styles&only=styles&skin=vector-2022"> <meta name="generator" content="MediaWiki 1.44.0-wmf.17"> <meta name="referrer" content="origin"> <meta name="referrer" content="origin-when-cross-origin"> <meta name="robots" content="max-image-preview:standard"> <meta name="format-detection" content="telephone=no"> <meta name="viewport" content="width=1120"> <meta property="og:title" content="Robot locomotion - Wikipedia"> <meta property="og:type" content="website"> <link rel="preconnect" href="//upload.wikimedia.org"> <link rel="alternate" media="only screen and (max-width: 640px)" href="//en.m.wikipedia.org/wiki/Robot_locomotion"> <link rel="alternate" type="application/x-wiki" title="Edit this page" href="/w/index.php?title=Robot_locomotion&action=edit"> <link rel="apple-touch-icon" href="/static/apple-touch/wikipedia.png"> <link rel="icon" href="/static/favicon/wikipedia.ico"> <link rel="search" type="application/opensearchdescription+xml" href="/w/rest.php/v1/search" title="Wikipedia (en)"> <link rel="EditURI" type="application/rsd+xml" href="//en.wikipedia.org/w/api.php?action=rsd"> <link rel="canonical" href="https://en.wikipedia.org/wiki/Robot_locomotion"> <link rel="license" href="https://creativecommons.org/licenses/by-sa/4.0/deed.en"> <link rel="alternate" type="application/atom+xml" title="Wikipedia Atom feed" href="/w/index.php?title=Special:RecentChanges&feed=atom"> <link rel="dns-prefetch" href="//meta.wikimedia.org" /> <link rel="dns-prefetch" href="login.wikimedia.org"> </head> <body class="skin--responsive skin-vector skin-vector-search-vue mediawiki ltr sitedir-ltr mw-hide-empty-elt ns-0 ns-subject mw-editable page-Robot_locomotion rootpage-Robot_locomotion skin-vector-2022 action-view"><a class="mw-jump-link" href="#bodyContent">Jump to content</a> <div class="vector-header-container"> <header class="vector-header mw-header"> <div class="vector-header-start"> <nav class="vector-main-menu-landmark" aria-label="Site"> <div id="vector-main-menu-dropdown" class="vector-dropdown vector-main-menu-dropdown vector-button-flush-left vector-button-flush-right" title="Main menu" > <input type="checkbox" id="vector-main-menu-dropdown-checkbox" role="button" aria-haspopup="true" data-event-name="ui.dropdown-vector-main-menu-dropdown" class="vector-dropdown-checkbox " aria-label="Main menu" > <label id="vector-main-menu-dropdown-label" for="vector-main-menu-dropdown-checkbox" class="vector-dropdown-label cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--icon-only " aria-hidden="true" ><span class="vector-icon mw-ui-icon-menu mw-ui-icon-wikimedia-menu"></span> <span class="vector-dropdown-label-text">Main menu</span> </label> <div class="vector-dropdown-content"> <div id="vector-main-menu-unpinned-container" class="vector-unpinned-container"> <div id="vector-main-menu" class="vector-main-menu vector-pinnable-element"> <div class="vector-pinnable-header vector-main-menu-pinnable-header vector-pinnable-header-unpinned" data-feature-name="main-menu-pinned" data-pinnable-element-id="vector-main-menu" data-pinned-container-id="vector-main-menu-pinned-container" data-unpinned-container-id="vector-main-menu-unpinned-container" > <div class="vector-pinnable-header-label">Main menu</div> <button class="vector-pinnable-header-toggle-button vector-pinnable-header-pin-button" data-event-name="pinnable-header.vector-main-menu.pin">move to sidebar</button> <button class="vector-pinnable-header-toggle-button vector-pinnable-header-unpin-button" data-event-name="pinnable-header.vector-main-menu.unpin">hide</button> </div> <div id="p-navigation" class="vector-menu mw-portlet mw-portlet-navigation" > <div class="vector-menu-heading"> Navigation </div> <div class="vector-menu-content"> <ul class="vector-menu-content-list"> <li id="n-mainpage-description" class="mw-list-item"><a href="/wiki/Main_Page" title="Visit the main page [z]" accesskey="z"><span>Main page</span></a></li><li id="n-contents" class="mw-list-item"><a href="/wiki/Wikipedia:Contents" title="Guides to browsing Wikipedia"><span>Contents</span></a></li><li id="n-currentevents" class="mw-list-item"><a href="/wiki/Portal:Current_events" title="Articles related to current events"><span>Current events</span></a></li><li id="n-randompage" class="mw-list-item"><a href="/wiki/Special:Random" title="Visit a randomly selected article [x]" accesskey="x"><span>Random article</span></a></li><li id="n-aboutsite" class="mw-list-item"><a href="/wiki/Wikipedia:About" title="Learn about Wikipedia and how it works"><span>About Wikipedia</span></a></li><li id="n-contactpage" class="mw-list-item"><a href="//en.wikipedia.org/wiki/Wikipedia:Contact_us" title="How to contact Wikipedia"><span>Contact us</span></a></li> </ul> </div> </div> <div id="p-interaction" class="vector-menu mw-portlet mw-portlet-interaction" > <div class="vector-menu-heading"> Contribute </div> <div class="vector-menu-content"> <ul class="vector-menu-content-list"> <li id="n-help" class="mw-list-item"><a href="/wiki/Help:Contents" title="Guidance on how to use and edit Wikipedia"><span>Help</span></a></li><li id="n-introduction" class="mw-list-item"><a href="/wiki/Help:Introduction" title="Learn how to edit Wikipedia"><span>Learn to edit</span></a></li><li id="n-portal" class="mw-list-item"><a href="/wiki/Wikipedia:Community_portal" title="The hub for editors"><span>Community portal</span></a></li><li id="n-recentchanges" class="mw-list-item"><a href="/wiki/Special:RecentChanges" title="A list of recent changes to Wikipedia [r]" accesskey="r"><span>Recent changes</span></a></li><li id="n-upload" class="mw-list-item"><a href="/wiki/Wikipedia:File_upload_wizard" title="Add images or other media for use on Wikipedia"><span>Upload file</span></a></li><li id="n-specialpages" class="mw-list-item"><a href="/wiki/Special:SpecialPages"><span>Special pages</span></a></li> </ul> </div> </div> </div> </div> </div> </div> </nav> <a href="/wiki/Main_Page" class="mw-logo"> <img class="mw-logo-icon" src="/static/images/icons/wikipedia.png" alt="" aria-hidden="true" height="50" width="50"> <span class="mw-logo-container skin-invert"> <img class="mw-logo-wordmark" alt="Wikipedia" src="/static/images/mobile/copyright/wikipedia-wordmark-en.svg" style="width: 7.5em; height: 1.125em;"> <img class="mw-logo-tagline" alt="The Free Encyclopedia" src="/static/images/mobile/copyright/wikipedia-tagline-en.svg" width="117" height="13" style="width: 7.3125em; height: 0.8125em;"> </span> </a> </div> <div class="vector-header-end"> <div id="p-search" role="search" class="vector-search-box-vue vector-search-box-collapses vector-search-box-show-thumbnail vector-search-box-auto-expand-width vector-search-box"> <a href="/wiki/Special:Search" class="cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--icon-only search-toggle" title="Search Wikipedia [f]" accesskey="f"><span class="vector-icon mw-ui-icon-search mw-ui-icon-wikimedia-search"></span> <span>Search</span> </a> <div class="vector-typeahead-search-container"> <div class="cdx-typeahead-search cdx-typeahead-search--show-thumbnail cdx-typeahead-search--auto-expand-width"> <form action="/w/index.php" id="searchform" class="cdx-search-input cdx-search-input--has-end-button"> <div id="simpleSearch" class="cdx-search-input__input-wrapper" data-search-loc="header-moved"> <div class="cdx-text-input cdx-text-input--has-start-icon"> <input class="cdx-text-input__input" type="search" name="search" placeholder="Search Wikipedia" aria-label="Search Wikipedia" autocapitalize="sentences" title="Search Wikipedia [f]" accesskey="f" id="searchInput" > <span class="cdx-text-input__icon cdx-text-input__start-icon"></span> </div> <input type="hidden" name="title" value="Special:Search"> </div> <button class="cdx-button cdx-search-input__end-button">Search</button> </form> </div> </div> </div> <nav class="vector-user-links vector-user-links-wide" aria-label="Personal tools"> <div class="vector-user-links-main"> <div id="p-vector-user-menu-preferences" class="vector-menu mw-portlet emptyPortlet" > <div class="vector-menu-content"> <ul class="vector-menu-content-list"> </ul> </div> </div> <div id="p-vector-user-menu-userpage" class="vector-menu mw-portlet emptyPortlet" > <div class="vector-menu-content"> <ul class="vector-menu-content-list"> </ul> </div> </div> <nav class="vector-appearance-landmark" aria-label="Appearance"> <div id="vector-appearance-dropdown" class="vector-dropdown " title="Change the appearance of the page's font size, width, and color" > <input type="checkbox" id="vector-appearance-dropdown-checkbox" role="button" aria-haspopup="true" data-event-name="ui.dropdown-vector-appearance-dropdown" class="vector-dropdown-checkbox " aria-label="Appearance" > <label id="vector-appearance-dropdown-label" for="vector-appearance-dropdown-checkbox" class="vector-dropdown-label cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--icon-only " aria-hidden="true" ><span class="vector-icon mw-ui-icon-appearance mw-ui-icon-wikimedia-appearance"></span> <span class="vector-dropdown-label-text">Appearance</span> </label> <div class="vector-dropdown-content"> <div id="vector-appearance-unpinned-container" class="vector-unpinned-container"> </div> </div> </div> </nav> <div id="p-vector-user-menu-notifications" class="vector-menu mw-portlet emptyPortlet" > <div class="vector-menu-content"> <ul class="vector-menu-content-list"> </ul> </div> </div> <div id="p-vector-user-menu-overflow" class="vector-menu mw-portlet" > <div class="vector-menu-content"> <ul class="vector-menu-content-list"> <li id="pt-sitesupport-2" class="user-links-collapsible-item mw-list-item user-links-collapsible-item"><a data-mw="interface" href="https://donate.wikimedia.org/?wmf_source=donate&wmf_medium=sidebar&wmf_campaign=en.wikipedia.org&uselang=en" class=""><span>Donate</span></a> </li> <li id="pt-createaccount-2" class="user-links-collapsible-item mw-list-item user-links-collapsible-item"><a data-mw="interface" href="/w/index.php?title=Special:CreateAccount&returnto=Robot+locomotion" title="You are encouraged to create an account and log in; however, it is not mandatory" class=""><span>Create account</span></a> </li> <li id="pt-login-2" class="user-links-collapsible-item mw-list-item user-links-collapsible-item"><a data-mw="interface" href="/w/index.php?title=Special:UserLogin&returnto=Robot+locomotion" title="You're encouraged to log in; however, it's not mandatory. [o]" accesskey="o" class=""><span>Log in</span></a> </li> </ul> </div> </div> </div> <div id="vector-user-links-dropdown" class="vector-dropdown vector-user-menu vector-button-flush-right vector-user-menu-logged-out" title="Log in and more options" > <input type="checkbox" id="vector-user-links-dropdown-checkbox" role="button" aria-haspopup="true" data-event-name="ui.dropdown-vector-user-links-dropdown" class="vector-dropdown-checkbox " aria-label="Personal tools" > <label id="vector-user-links-dropdown-label" for="vector-user-links-dropdown-checkbox" class="vector-dropdown-label cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--icon-only " aria-hidden="true" ><span class="vector-icon mw-ui-icon-ellipsis mw-ui-icon-wikimedia-ellipsis"></span> <span class="vector-dropdown-label-text">Personal tools</span> </label> <div class="vector-dropdown-content"> <div id="p-personal" class="vector-menu mw-portlet mw-portlet-personal user-links-collapsible-item" title="User menu" > <div class="vector-menu-content"> <ul class="vector-menu-content-list"> <li id="pt-sitesupport" class="user-links-collapsible-item mw-list-item"><a href="https://donate.wikimedia.org/?wmf_source=donate&wmf_medium=sidebar&wmf_campaign=en.wikipedia.org&uselang=en"><span>Donate</span></a></li><li id="pt-createaccount" class="user-links-collapsible-item mw-list-item"><a href="/w/index.php?title=Special:CreateAccount&returnto=Robot+locomotion" title="You are encouraged to create an account and log in; however, it is not mandatory"><span class="vector-icon mw-ui-icon-userAdd mw-ui-icon-wikimedia-userAdd"></span> <span>Create account</span></a></li><li id="pt-login" class="user-links-collapsible-item mw-list-item"><a href="/w/index.php?title=Special:UserLogin&returnto=Robot+locomotion" title="You're encouraged to log in; however, it's not mandatory. [o]" accesskey="o"><span class="vector-icon mw-ui-icon-logIn mw-ui-icon-wikimedia-logIn"></span> <span>Log in</span></a></li> </ul> </div> </div> <div id="p-user-menu-anon-editor" class="vector-menu mw-portlet mw-portlet-user-menu-anon-editor" > <div class="vector-menu-heading"> Pages for logged out editors <a href="/wiki/Help:Introduction" aria-label="Learn more about editing"><span>learn more</span></a> </div> <div class="vector-menu-content"> <ul class="vector-menu-content-list"> <li id="pt-anoncontribs" class="mw-list-item"><a href="/wiki/Special:MyContributions" title="A list of edits made from this IP address [y]" accesskey="y"><span>Contributions</span></a></li><li id="pt-anontalk" class="mw-list-item"><a href="/wiki/Special:MyTalk" title="Discussion about edits from this IP address [n]" accesskey="n"><span>Talk</span></a></li> </ul> </div> </div> </div> </div> </nav> </div> </header> </div> <div class="mw-page-container"> <div class="mw-page-container-inner"> <div class="vector-sitenotice-container"> <div id="siteNotice"></div> </div> <div class="vector-column-start"> <div class="vector-main-menu-container"> <div id="mw-navigation"> <nav id="mw-panel" class="vector-main-menu-landmark" aria-label="Site"> <div id="vector-main-menu-pinned-container" class="vector-pinned-container"> </div> </nav> </div> </div> <div class="vector-sticky-pinned-container"> <nav id="mw-panel-toc" aria-label="Contents" data-event-name="ui.sidebar-toc" class="mw-table-of-contents-container vector-toc-landmark"> <div id="vector-toc-pinned-container" class="vector-pinned-container"> <div id="vector-toc" class="vector-toc vector-pinnable-element"> <div class="vector-pinnable-header vector-toc-pinnable-header vector-pinnable-header-pinned" data-feature-name="toc-pinned" data-pinnable-element-id="vector-toc" > <h2 class="vector-pinnable-header-label">Contents</h2> <button class="vector-pinnable-header-toggle-button vector-pinnable-header-pin-button" data-event-name="pinnable-header.vector-toc.pin">move to sidebar</button> <button class="vector-pinnable-header-toggle-button vector-pinnable-header-unpin-button" data-event-name="pinnable-header.vector-toc.unpin">hide</button> </div> <ul class="vector-toc-contents" id="mw-panel-toc-list"> <li id="toc-mw-content-text" class="vector-toc-list-item vector-toc-level-1"> <a href="#" class="vector-toc-link"> <div class="vector-toc-text">(Top)</div> </a> </li> <li id="toc-Types_of_locomotion" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Types_of_locomotion"> <div class="vector-toc-text"> <span class="vector-toc-numb">1</span> <span>Types of locomotion</span> </div> </a> <button aria-controls="toc-Types_of_locomotion-sublist" class="cdx-button cdx-button--weight-quiet cdx-button--icon-only vector-toc-toggle"> <span class="vector-icon mw-ui-icon-wikimedia-expand"></span> <span>Toggle Types of locomotion subsection</span> </button> <ul id="toc-Types_of_locomotion-sublist" class="vector-toc-list"> <li id="toc-Walking" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Walking"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.1</span> <span>Walking</span> </div> </a> <ul id="toc-Walking-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Rolling" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Rolling"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.2</span> <span>Rolling</span> </div> </a> <ul id="toc-Rolling-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Hopping" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Hopping"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.3</span> <span>Hopping</span> </div> </a> <ul id="toc-Hopping-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Metachronal_motion" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Metachronal_motion"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.4</span> <span>Metachronal motion</span> </div> </a> <ul id="toc-Metachronal_motion-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Slithering" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Slithering"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.5</span> <span>Slithering</span> </div> </a> <ul id="toc-Slithering-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Swimming" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Swimming"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.6</span> <span>Swimming</span> </div> </a> <ul id="toc-Swimming-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Flying" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Flying"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.7</span> <span>Flying</span> </div> </a> <ul id="toc-Flying-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Brachiating" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Brachiating"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.8</span> <span>Brachiating</span> </div> </a> <ul id="toc-Brachiating-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Hybrid" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Hybrid"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.9</span> <span>Hybrid</span> </div> </a> <ul id="toc-Hybrid-sublist" class="vector-toc-list"> </ul> </li> </ul> </li> <li id="toc-Biologically_inspired_locomotion" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Biologically_inspired_locomotion"> <div class="vector-toc-text"> <span class="vector-toc-numb">2</span> <span>Biologically inspired locomotion</span> </div> </a> <ul id="toc-Biologically_inspired_locomotion-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Multi-modal_robot_locomotion_based_on_bio-inspiration" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Multi-modal_robot_locomotion_based_on_bio-inspiration"> <div class="vector-toc-text"> <span class="vector-toc-numb">3</span> <span>Multi-modal robot locomotion based on bio-inspiration</span> </div> </a> <ul id="toc-Multi-modal_robot_locomotion_based_on_bio-inspiration-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Approaches" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Approaches"> <div class="vector-toc-text"> <span class="vector-toc-numb">4</span> <span>Approaches</span> </div> </a> <ul id="toc-Approaches-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Notable_researchers_in_the_field" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Notable_researchers_in_the_field"> <div class="vector-toc-text"> <span class="vector-toc-numb">5</span> <span>Notable researchers in the field</span> </div> </a> <ul id="toc-Notable_researchers_in_the_field-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-See_also" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#See_also"> <div class="vector-toc-text"> <span class="vector-toc-numb">6</span> <span>See also</span> </div> </a> <ul id="toc-See_also-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-References" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#References"> <div class="vector-toc-text"> <span class="vector-toc-numb">7</span> <span>References</span> </div> </a> <ul id="toc-References-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-External_links" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#External_links"> <div class="vector-toc-text"> <span class="vector-toc-numb">8</span> <span>External links</span> </div> </a> <ul id="toc-External_links-sublist" class="vector-toc-list"> </ul> </li> </ul> </div> </div> </nav> </div> </div> <div class="mw-content-container"> <main id="content" class="mw-body"> <header class="mw-body-header vector-page-titlebar"> <nav aria-label="Contents" class="vector-toc-landmark"> <div id="vector-page-titlebar-toc" class="vector-dropdown vector-page-titlebar-toc vector-button-flush-left" title="Table of Contents" > <input type="checkbox" id="vector-page-titlebar-toc-checkbox" role="button" aria-haspopup="true" data-event-name="ui.dropdown-vector-page-titlebar-toc" class="vector-dropdown-checkbox " aria-label="Toggle the table of contents" > <label id="vector-page-titlebar-toc-label" for="vector-page-titlebar-toc-checkbox" class="vector-dropdown-label cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--icon-only " aria-hidden="true" ><span class="vector-icon mw-ui-icon-listBullet mw-ui-icon-wikimedia-listBullet"></span> <span class="vector-dropdown-label-text">Toggle the table of contents</span> </label> <div class="vector-dropdown-content"> <div id="vector-page-titlebar-toc-unpinned-container" class="vector-unpinned-container"> </div> </div> </div> </nav> <h1 id="firstHeading" class="firstHeading mw-first-heading"><span class="mw-page-title-main">Robot locomotion</span></h1> <div id="p-lang-btn" class="vector-dropdown mw-portlet mw-portlet-lang" > <input type="checkbox" id="p-lang-btn-checkbox" role="button" aria-haspopup="true" data-event-name="ui.dropdown-p-lang-btn" class="vector-dropdown-checkbox mw-interlanguage-selector" aria-label="Go to an article in another language. Available in 2 languages" > <label id="p-lang-btn-label" for="p-lang-btn-checkbox" class="vector-dropdown-label cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--action-progressive mw-portlet-lang-heading-2" aria-hidden="true" ><span class="vector-icon mw-ui-icon-language-progressive mw-ui-icon-wikimedia-language-progressive"></span> <span class="vector-dropdown-label-text">2 languages</span> </label> <div class="vector-dropdown-content"> <div class="vector-menu-content"> <ul class="vector-menu-content-list"> <li class="interlanguage-link interwiki-fa mw-list-item"><a href="https://fa.wikipedia.org/wiki/%D9%BE%DB%8C%D9%85%D8%A7%DB%8C%D8%B4_%D8%B1%D8%A8%D8%A7%D8%AA" title="پیمایش ربات – Persian" lang="fa" hreflang="fa" data-title="پیمایش ربات" data-language-autonym="فارسی" data-language-local-name="Persian" class="interlanguage-link-target"><span>فارسی</span></a></li><li class="interlanguage-link interwiki-fr mw-list-item"><a href="https://fr.wikipedia.org/wiki/Locomotion_robotique" title="Locomotion robotique – French" lang="fr" hreflang="fr" data-title="Locomotion robotique" data-language-autonym="Français" data-language-local-name="French" class="interlanguage-link-target"><span>Français</span></a></li> </ul> <div class="after-portlet after-portlet-lang"><span class="wb-langlinks-edit wb-langlinks-link"><a href="https://www.wikidata.org/wiki/Special:EntityPage/Q7353391#sitelinks-wikipedia" title="Edit interlanguage links" class="wbc-editpage">Edit links</a></span></div> </div> </div> </div> </header> <div class="vector-page-toolbar"> <div class="vector-page-toolbar-container"> <div id="left-navigation"> <nav aria-label="Namespaces"> <div id="p-associated-pages" class="vector-menu vector-menu-tabs mw-portlet mw-portlet-associated-pages" > <div class="vector-menu-content"> <ul class="vector-menu-content-list"> <li id="ca-nstab-main" class="selected vector-tab-noicon mw-list-item"><a href="/wiki/Robot_locomotion" title="View the content page [c]" accesskey="c"><span>Article</span></a></li><li id="ca-talk" class="vector-tab-noicon mw-list-item"><a href="/wiki/Talk:Robot_locomotion" rel="discussion" title="Discuss improvements to the content page [t]" accesskey="t"><span>Talk</span></a></li> </ul> </div> </div> <div id="vector-variants-dropdown" class="vector-dropdown emptyPortlet" > <input type="checkbox" id="vector-variants-dropdown-checkbox" role="button" aria-haspopup="true" data-event-name="ui.dropdown-vector-variants-dropdown" class="vector-dropdown-checkbox " aria-label="Change language variant" > <label id="vector-variants-dropdown-label" for="vector-variants-dropdown-checkbox" class="vector-dropdown-label cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet" aria-hidden="true" ><span class="vector-dropdown-label-text">English</span> </label> <div class="vector-dropdown-content"> <div id="p-variants" class="vector-menu mw-portlet mw-portlet-variants emptyPortlet" > <div class="vector-menu-content"> <ul class="vector-menu-content-list"> </ul> </div> </div> </div> </div> </nav> </div> <div id="right-navigation" class="vector-collapsible"> <nav aria-label="Views"> <div id="p-views" class="vector-menu vector-menu-tabs mw-portlet mw-portlet-views" > <div class="vector-menu-content"> <ul class="vector-menu-content-list"> <li id="ca-view" class="selected vector-tab-noicon mw-list-item"><a href="/wiki/Robot_locomotion"><span>Read</span></a></li><li id="ca-edit" class="vector-tab-noicon mw-list-item"><a href="/w/index.php?title=Robot_locomotion&action=edit" title="Edit this page [e]" accesskey="e"><span>Edit</span></a></li><li id="ca-history" class="vector-tab-noicon mw-list-item"><a href="/w/index.php?title=Robot_locomotion&action=history" title="Past revisions of this page [h]" accesskey="h"><span>View history</span></a></li> </ul> </div> </div> </nav> <nav class="vector-page-tools-landmark" aria-label="Page tools"> <div id="vector-page-tools-dropdown" class="vector-dropdown vector-page-tools-dropdown" > <input type="checkbox" id="vector-page-tools-dropdown-checkbox" role="button" aria-haspopup="true" data-event-name="ui.dropdown-vector-page-tools-dropdown" class="vector-dropdown-checkbox " aria-label="Tools" > <label id="vector-page-tools-dropdown-label" for="vector-page-tools-dropdown-checkbox" class="vector-dropdown-label cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet" aria-hidden="true" ><span class="vector-dropdown-label-text">Tools</span> </label> <div class="vector-dropdown-content"> <div id="vector-page-tools-unpinned-container" class="vector-unpinned-container"> <div id="vector-page-tools" class="vector-page-tools vector-pinnable-element"> <div class="vector-pinnable-header vector-page-tools-pinnable-header vector-pinnable-header-unpinned" data-feature-name="page-tools-pinned" data-pinnable-element-id="vector-page-tools" data-pinned-container-id="vector-page-tools-pinned-container" data-unpinned-container-id="vector-page-tools-unpinned-container" > <div class="vector-pinnable-header-label">Tools</div> <button class="vector-pinnable-header-toggle-button vector-pinnable-header-pin-button" data-event-name="pinnable-header.vector-page-tools.pin">move to sidebar</button> <button class="vector-pinnable-header-toggle-button vector-pinnable-header-unpin-button" data-event-name="pinnable-header.vector-page-tools.unpin">hide</button> </div> <div id="p-cactions" class="vector-menu mw-portlet mw-portlet-cactions emptyPortlet vector-has-collapsible-items" title="More options" > <div class="vector-menu-heading"> Actions </div> <div class="vector-menu-content"> <ul class="vector-menu-content-list"> <li id="ca-more-view" class="selected vector-more-collapsible-item mw-list-item"><a href="/wiki/Robot_locomotion"><span>Read</span></a></li><li id="ca-more-edit" class="vector-more-collapsible-item mw-list-item"><a href="/w/index.php?title=Robot_locomotion&action=edit" title="Edit this page [e]" accesskey="e"><span>Edit</span></a></li><li id="ca-more-history" class="vector-more-collapsible-item mw-list-item"><a href="/w/index.php?title=Robot_locomotion&action=history"><span>View history</span></a></li> </ul> </div> </div> <div id="p-tb" class="vector-menu mw-portlet mw-portlet-tb" > <div class="vector-menu-heading"> General </div> <div class="vector-menu-content"> <ul class="vector-menu-content-list"> <li id="t-whatlinkshere" class="mw-list-item"><a href="/wiki/Special:WhatLinksHere/Robot_locomotion" title="List of all English Wikipedia pages containing links to this page [j]" accesskey="j"><span>What links here</span></a></li><li id="t-recentchangeslinked" class="mw-list-item"><a href="/wiki/Special:RecentChangesLinked/Robot_locomotion" rel="nofollow" title="Recent changes in pages linked from this page [k]" accesskey="k"><span>Related changes</span></a></li><li id="t-upload" class="mw-list-item"><a href="//en.wikipedia.org/wiki/Wikipedia:File_Upload_Wizard" title="Upload files [u]" accesskey="u"><span>Upload file</span></a></li><li id="t-permalink" class="mw-list-item"><a href="/w/index.php?title=Robot_locomotion&oldid=1275712398" title="Permanent link to this revision of this page"><span>Permanent link</span></a></li><li id="t-info" class="mw-list-item"><a href="/w/index.php?title=Robot_locomotion&action=info" title="More information about this page"><span>Page information</span></a></li><li id="t-cite" class="mw-list-item"><a href="/w/index.php?title=Special:CiteThisPage&page=Robot_locomotion&id=1275712398&wpFormIdentifier=titleform" title="Information on how to cite this page"><span>Cite this page</span></a></li><li id="t-urlshortener" class="mw-list-item"><a href="/w/index.php?title=Special:UrlShortener&url=https%3A%2F%2Fen.wikipedia.org%2Fwiki%2FRobot_locomotion"><span>Get shortened URL</span></a></li><li id="t-urlshortener-qrcode" class="mw-list-item"><a href="/w/index.php?title=Special:QrCode&url=https%3A%2F%2Fen.wikipedia.org%2Fwiki%2FRobot_locomotion"><span>Download QR code</span></a></li> </ul> </div> </div> <div id="p-coll-print_export" class="vector-menu mw-portlet mw-portlet-coll-print_export" > <div class="vector-menu-heading"> Print/export </div> <div class="vector-menu-content"> <ul class="vector-menu-content-list"> <li id="coll-download-as-rl" class="mw-list-item"><a href="/w/index.php?title=Special:DownloadAsPdf&page=Robot_locomotion&action=show-download-screen" title="Download this page as a PDF file"><span>Download as PDF</span></a></li><li id="t-print" class="mw-list-item"><a href="/w/index.php?title=Robot_locomotion&printable=yes" title="Printable version of this page [p]" accesskey="p"><span>Printable version</span></a></li> </ul> </div> </div> <div id="p-wikibase-otherprojects" class="vector-menu mw-portlet mw-portlet-wikibase-otherprojects" > <div class="vector-menu-heading"> In other projects </div> <div class="vector-menu-content"> <ul class="vector-menu-content-list"> <li id="t-wikibase" class="wb-otherproject-link wb-otherproject-wikibase-dataitem mw-list-item"><a href="https://www.wikidata.org/wiki/Special:EntityPage/Q7353391" title="Structured data on this page hosted by Wikidata [g]" accesskey="g"><span>Wikidata item</span></a></li> </ul> </div> </div> </div> </div> </div> </div> </nav> </div> </div> </div> <div class="vector-column-end"> <div class="vector-sticky-pinned-container"> <nav class="vector-page-tools-landmark" aria-label="Page tools"> <div id="vector-page-tools-pinned-container" class="vector-pinned-container"> </div> </nav> <nav class="vector-appearance-landmark" aria-label="Appearance"> <div id="vector-appearance-pinned-container" class="vector-pinned-container"> <div id="vector-appearance" class="vector-appearance vector-pinnable-element"> <div class="vector-pinnable-header vector-appearance-pinnable-header vector-pinnable-header-pinned" data-feature-name="appearance-pinned" data-pinnable-element-id="vector-appearance" data-pinned-container-id="vector-appearance-pinned-container" data-unpinned-container-id="vector-appearance-unpinned-container" > <div class="vector-pinnable-header-label">Appearance</div> <button class="vector-pinnable-header-toggle-button vector-pinnable-header-pin-button" data-event-name="pinnable-header.vector-appearance.pin">move to sidebar</button> <button class="vector-pinnable-header-toggle-button vector-pinnable-header-unpin-button" data-event-name="pinnable-header.vector-appearance.unpin">hide</button> </div> </div> </div> </nav> </div> </div> <div id="bodyContent" class="vector-body" aria-labelledby="firstHeading" data-mw-ve-target-container> <div class="vector-body-before-content"> <div class="mw-indicators"> </div> <div id="siteSub" class="noprint">From Wikipedia, the free encyclopedia</div> </div> <div id="contentSub"><div id="mw-content-subtitle"></div></div> <div id="mw-content-text" class="mw-body-content"><div class="mw-content-ltr mw-parser-output" lang="en" dir="ltr"><div class="shortdescription nomobile noexcerpt noprint searchaux" style="display:none">Various methods robots use to transport themselves</div> <p><b>Robot locomotion</b> is the collective name for the various methods that <a href="/wiki/Robot" title="Robot">robots</a> use to <a href="/wiki/Transport" title="Transport">transport</a> themselves from place to place. </p><p><a href="/wiki/Wheel" title="Wheel">Wheeled</a> robots are typically quite energy efficient and simple to control. However, other forms of locomotion may be more appropriate for a number of reasons, for example traversing rough terrain, as well as moving and interacting in human environments. Furthermore, studying bipedal and insect-like robots may beneficially impact on <a href="/wiki/Biomechanics" title="Biomechanics">biomechanics</a>. </p><p>A major goal in this field is in developing capabilities for robots to <a href="/wiki/Autonomous_robot" title="Autonomous robot">autonomously</a> decide how, when, and where to move. However, coordinating numerous robot joints for even simple matters, like negotiating stairs, is difficult. Autonomous robot locomotion is a major technological obstacle for many areas of robotics, such as <a href="/wiki/Humanoid_robot" title="Humanoid robot">humanoids</a> (like Honda's <a href="/wiki/Asimo" class="mw-redirect" title="Asimo">Asimo</a>). </p> <meta property="mw:PageProp/toc" /> <div class="mw-heading mw-heading2"><h2 id="Types_of_locomotion">Types of locomotion</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robot_locomotion&action=edit&section=1" title="Edit section: Types of locomotion"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <div class="mw-heading mw-heading3"><h3 id="Walking">Walking</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robot_locomotion&action=edit&section=2" title="Edit section: Walking"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <ul><li><i>See</i> <a href="/wiki/Passive_dynamics" title="Passive dynamics">Passive dynamics</a></li> <li><i>See</i> <a href="/wiki/Zero_Moment_Point" class="mw-redirect" title="Zero Moment Point">Zero Moment Point</a></li> <li><i>See</i> <a href="/wiki/Leg_mechanism" title="Leg mechanism">Leg mechanism</a></li> <li><i>See</i> <a href="/wiki/Hexapod_(robotics)" title="Hexapod (robotics)">Hexapod (robotics)</a></li></ul> <figure class="mw-default-size" typeof="mw:File/Thumb"><a href="/wiki/File:F4-motion.gif" class="mw-file-description"><img alt="Klann linkage" src="//upload.wikimedia.org/wikipedia/commons/thumb/6/69/F4-motion.gif/220px-F4-motion.gif" decoding="async" width="220" height="132" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/6/69/F4-motion.gif/330px-F4-motion.gif 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/6/69/F4-motion.gif/440px-F4-motion.gif 2x" data-file-width="500" data-file-height="300" /></a><figcaption><a href="/wiki/Klann_linkage" title="Klann linkage">Klann linkage</a> walking motion</figcaption></figure> <p><a href="/wiki/Walking_robot" class="mw-redirect" title="Walking robot">Walking robots</a> simulate human or animal <a href="/wiki/Gait" title="Gait">gait</a>, as a replacement for wheeled motion. Legged motion makes it possible to negotiate uneven surfaces, steps, and other areas that would be difficult for a wheeled robot to reach, as well as causes less damage to environmental terrain as wheeled robots, which would erode it.<sup id="cite_ref-1" class="reference"><a href="#cite_note-1"><span class="cite-bracket">[</span>1<span class="cite-bracket">]</span></a></sup> </p><p>Hexapod robots are based on insect locomotion, most popularly the <a href="/wiki/Cockroach" title="Cockroach">cockroach</a><sup id="cite_ref-2" class="reference"><a href="#cite_note-2"><span class="cite-bracket">[</span>2<span class="cite-bracket">]</span></a></sup> and <a href="/wiki/Stick_insect" class="mw-redirect" title="Stick insect">stick insect</a>, whose neurological and sensory output is less complex than other animals. Multiple legs allow several different gaits, even if a leg is damaged, making their movements more useful in robots transporting objects. </p><p>Examples of advanced running robots include <a href="/wiki/ASIMO" title="ASIMO">ASIMO</a>, <a href="/wiki/BigDog" title="BigDog">BigDog</a>, <a href="/wiki/HUBO" title="HUBO">HUBO 2</a>, <a href="/wiki/RunBot" title="RunBot">RunBot</a>, and <a href="/wiki/Toyota_Partner_Robot" title="Toyota Partner Robot">Toyota Partner Robot</a>. </p> <div class="mw-heading mw-heading3"><h3 id="Rolling">Rolling</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robot_locomotion&action=edit&section=3" title="Edit section: Rolling"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div><p> In terms of energy efficiency on hard, flat surfaces, wheeled robots are the most efficient. This is because an ideal, non-deformable rolling (but not slipping) wheel loses no energy. This is in contrast to <a href="/wiki/Legged_robot" title="Legged robot">legged robots</a> which suffer an impact with the ground at <a href="/wiki/Heel_strike_(gait)" class="mw-redirect" title="Heel strike (gait)">heel strike</a> and lose energy as a result.</p><figure class="mw-default-size mw-halign-right" typeof="mw:File/Thumb"><a href="/wiki/File:Segway_01.JPG" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/2/28/Segway_01.JPG/220px-Segway_01.JPG" decoding="async" width="220" height="293" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/2/28/Segway_01.JPG/330px-Segway_01.JPG 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/2/28/Segway_01.JPG/440px-Segway_01.JPG 2x" data-file-width="2736" data-file-height="3648" /></a><figcaption><a href="/wiki/Segway_PT" class="mw-redirect" title="Segway PT">Segway</a> in the Robot museum in <a href="/wiki/Nagoya" title="Nagoya">Nagoya</a></figcaption></figure> <p>For simplicity, most mobile robots have four <a href="/wiki/Wheel" title="Wheel">wheels</a> or a number of <a href="/wiki/Continuous_track" title="Continuous track">continuous tracks</a>. Some researchers have tried to create more complex wheeled robots with only one or two wheels. These can have certain advantages such as greater efficiency and reduced parts, as well as allowing a robot to navigate in confined places that a four-wheeled robot would not be able to. </p><p>Examples: <a href="/wiki/Boe-Bot" title="Boe-Bot">Boe-Bot</a>, <a href="/wiki/Cosmobot" title="Cosmobot">Cosmobot</a>, <a href="/wiki/Elmer_(robot)" class="mw-redirect" title="Elmer (robot)">Elmer</a>, <a href="/wiki/Elsie_(robot)" class="mw-redirect" title="Elsie (robot)">Elsie</a>, <a href="/wiki/Enon_(robot)" title="Enon (robot)">Enon</a>, <a href="/wiki/HERO_(robot)" title="HERO (robot)">HERO</a>, <a href="/wiki/IRobot_Create" title="IRobot Create">IRobot Create</a>, <a href="/wiki/IRobot" title="IRobot">iRobot</a>'s Roomba, <a href="/wiki/Johns_Hopkins_Beast" title="Johns Hopkins Beast">Johns Hopkins Beast</a>, <a href="/wiki/Land_Walker" title="Land Walker">Land Walker</a>, <a href="/wiki/Modulus_robot" title="Modulus robot">Modulus robot</a>, <a href="/wiki/Musa_(robot)" title="Musa (robot)">Musa</a>, <a href="/wiki/Omnibot" title="Omnibot">Omnibot</a>, <a href="/wiki/PaPeRo" title="PaPeRo">PaPeRo</a>, <a href="/wiki/Phobot" title="Phobot">Phobot</a>, <a href="/wiki/Pocketdelta_robot" title="Pocketdelta robot">Pocketdelta robot</a>, <a href="/wiki/Push_the_Talking_Trash_Can" title="Push the Talking Trash Can">Push the Talking Trash Can</a>, <a href="/wiki/RB5X" title="RB5X">RB5X</a>, <a href="/wiki/Rovio_(robot)" title="Rovio (robot)">Rovio</a>, <a href="/wiki/Seropi" title="Seropi">Seropi</a>, <a href="/wiki/Shakey_the_robot" title="Shakey the robot">Shakey the robot</a>, <a href="/wiki/Sony_Rolly" title="Sony Rolly">Sony Rolly</a>, <a href="/wiki/Spykee" title="Spykee">Spykee</a>, <a href="/wiki/TiLR" title="TiLR">TiLR</a>, <a href="/wiki/Topo_(robot)" title="Topo (robot)">Topo</a>, <a href="/wiki/TR_Ara%C3%B1a" title="TR Araña">TR Araña</a>, and <a href="/wiki/Wakamaru" title="Wakamaru">Wakamaru</a>. </p> <div class="mw-heading mw-heading3"><h3 id="Hopping">Hopping</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robot_locomotion&action=edit&section=4" title="Edit section: Hopping"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>Several robots, built in the 1980s by <a href="/wiki/Marc_Raibert" title="Marc Raibert">Marc Raibert</a> at the <a href="/wiki/Massachusetts_Institute_of_Technology" title="Massachusetts Institute of Technology">MIT</a> Leg Laboratory, successfully demonstrated very dynamic walking. Initially, a robot with only one leg, and a very small foot, could stay upright simply by <a href="https://en.wiktionary.org/wiki/hop" class="extiw" title="wikt:hop">hopping</a>. The movement is the same as that of a person on a <a href="/wiki/Pogo_stick" title="Pogo stick">pogo stick</a>. As the robot falls to one side, it would jump slightly in that direction, in order to catch itself.<sup id="cite_ref-3" class="reference"><a href="#cite_note-3"><span class="cite-bracket">[</span>3<span class="cite-bracket">]</span></a></sup> Soon, the algorithm was generalised to two and four legs. A bipedal robot was demonstrated running and even performing <a href="/wiki/Somersault" title="Somersault">somersaults</a>.<sup id="cite_ref-4" class="reference"><a href="#cite_note-4"><span class="cite-bracket">[</span>4<span class="cite-bracket">]</span></a></sup> A <a href="/wiki/Quadrupedalism" title="Quadrupedalism">quadruped</a> was also demonstrated which could <a href="/wiki/Trot_(horse_gait)" class="mw-redirect" title="Trot (horse gait)">trot</a>, run, <a href="/wiki/Horse_gait#Pace" title="Horse gait">pace</a>, and bound.<sup id="cite_ref-5" class="reference"><a href="#cite_note-5"><span class="cite-bracket">[</span>5<span class="cite-bracket">]</span></a></sup> </p><p>Examples: </p> <ul><li>The MIT cheetah cub is an electrically powered quadruped robot with passive compliant legs capable of self-stabilizing in large range of speeds.<sup id="cite_ref-6" class="reference"><a href="#cite_note-6"><span class="cite-bracket">[</span>6<span class="cite-bracket">]</span></a></sup></li> <li>The Tekken II is a small quadruped designed to walk on irregular terrains adaptively.<sup id="cite_ref-7" class="reference"><a href="#cite_note-7"><span class="cite-bracket">[</span>7<span class="cite-bracket">]</span></a></sup></li></ul> <div class="mw-heading mw-heading3"><h3 id="Metachronal_motion">Metachronal motion</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robot_locomotion&action=edit&section=5" title="Edit section: Metachronal motion"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>Coordinated, sequential mechanical action having the appearance of a traveling wave is called a <a href="/wiki/Metachronal_rhythm" title="Metachronal rhythm">metachronal rhythm</a> or wave, and is employed in nature by <a href="/wiki/Ciliate" title="Ciliate">ciliates</a> for transport, and by <a href="/wiki/Worm" title="Worm">worms</a> and <a href="/wiki/Arthropod" title="Arthropod">arthropods</a> for locomotion. </p> <div class="mw-heading mw-heading3"><h3 id="Slithering">Slithering</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robot_locomotion&action=edit&section=6" title="Edit section: Slithering"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>Several <a href="/wiki/Snake" title="Snake">snake</a> robots have been successfully developed. Mimicking the way real snakes move, these robots can navigate very confined spaces, meaning they may one day be used to search for people trapped in collapsed buildings.<sup id="cite_ref-8" class="reference"><a href="#cite_note-8"><span class="cite-bracket">[</span>8<span class="cite-bracket">]</span></a></sup> The Japanese ACM-R5 snake robot<sup id="cite_ref-9" class="reference"><a href="#cite_note-9"><span class="cite-bracket">[</span>9<span class="cite-bracket">]</span></a></sup> can even navigate both on land and in water.<sup id="cite_ref-10" class="reference"><a href="#cite_note-10"><span class="cite-bracket">[</span>10<span class="cite-bracket">]</span></a></sup> </p><p>Examples: <a href="/wiki/Snake-arm_robot" title="Snake-arm robot">Snake-arm robot</a>, <a href="/wiki/Roboboa" title="Roboboa">Roboboa</a>, and <a href="/wiki/Snakebot" title="Snakebot">Snakebot</a>. </p> <div class="mw-heading mw-heading3"><h3 id="Swimming">Swimming</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robot_locomotion&action=edit&section=7" title="Edit section: Swimming"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <ul><li><i>See</i> <a href="/wiki/Autonomous_underwater_vehicle" title="Autonomous underwater vehicle">Autonomous underwater vehicles</a></li></ul> <div class="mw-heading mw-heading3"><h3 id="Flying">Flying</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robot_locomotion&action=edit&section=8" title="Edit section: Flying"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <ul><li><i>See</i> <a href="/wiki/Unmanned_aerial_vehicle" title="Unmanned aerial vehicle">Unmanned aerial vehicle</a></li></ul> <div class="mw-heading mw-heading3"><h3 id="Brachiating">Brachiating</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robot_locomotion&action=edit&section=9" title="Edit section: Brachiating"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <style data-mw-deduplicate="TemplateStyles:r1236090951">.mw-parser-output .hatnote{font-style:italic}.mw-parser-output div.hatnote{padding-left:1.6em;margin-bottom:0.5em}.mw-parser-output .hatnote i{font-style:normal}.mw-parser-output .hatnote+link+.hatnote{margin-top:-0.5em}@media print{body.ns-0 .mw-parser-output .hatnote{display:none!important}}</style><div role="note" class="hatnote navigation-not-searchable">See also: <a href="/wiki/Brachiation" title="Brachiation">Brachiation</a></div> <p>Brachiation allows robots to travel by swinging, using energy only to grab and release surfaces.<sup id="cite_ref-11" class="reference"><a href="#cite_note-11"><span class="cite-bracket">[</span>11<span class="cite-bracket">]</span></a></sup> This motion is similar to an ape swinging from tree to tree. The two types of brachiation can be compared to bipedal walking motions (continuous contact) or running (ricochetal). Continuous contact is when a hand/grasping mechanism is always attached to the surface being crossed; ricochetal employs a phase of aerial "flight" from one surface/limb to the next. </p> <div class="mw-heading mw-heading3"><h3 id="Hybrid">Hybrid</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robot_locomotion&action=edit&section=10" title="Edit section: Hybrid"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>Robots can also be designed to perform locomotion in multiple modes. For example, the Reconfigurable Bipedal Snake Robot<sup id="cite_ref-12" class="reference"><a href="#cite_note-12"><span class="cite-bracket">[</span>12<span class="cite-bracket">]</span></a></sup> can both slither like a snake and walk like a biped robot. </p> <div class="mw-heading mw-heading2"><h2 id="Biologically_inspired_locomotion">Biologically inspired locomotion</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robot_locomotion&action=edit&section=11" title="Edit section: Biologically inspired locomotion"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>The desire to create robots with dynamic locomotive abilities has driven scientists to look to nature for solutions. Several robots capable of basic locomotion in a single mode have been invented but are found to lack several capabilities, hence limiting their functions and applications. Highly intelligent robots are needed in several areas such as search and rescue missions, battlefields, and landscape investigation. Thus robots of this nature need to be small, light, quick, and possess the ability to move in multiple locomotive modes. As it turns out, multiple animals have provided inspiration for the design of several robots. Some such animals are: </p><p><b>Pteromyini (flying squirrels)</b> </p> <figure class="mw-default-size" typeof="mw:File/Thumb"><a href="/wiki/File:Oggetto_MuSe_020.JPG" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/d/d1/Oggetto_MuSe_020.JPG/220px-Oggetto_MuSe_020.JPG" decoding="async" width="220" height="165" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/d/d1/Oggetto_MuSe_020.JPG/330px-Oggetto_MuSe_020.JPG 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/d/d1/Oggetto_MuSe_020.JPG/440px-Oggetto_MuSe_020.JPG 2x" data-file-width="4000" data-file-height="3000" /></a><figcaption>Illustrative image of the flying squirrel (Pteromyini)</figcaption></figure> <p><a href="/wiki/Flying_squirrel" title="Flying squirrel">Pteromyini</a> (a <a href="/wiki/Tribe_(biology)" title="Tribe (biology)">tribe</a> made up of flying squirrels) exhibit great mobility while on land by making use of their quadruped walking ability with high-<a href="/wiki/Degrees_of_freedom_(mechanics)" title="Degrees of freedom (mechanics)">degrees of freedom</a> (DoF) legs. In air, flying squirrels glide through by utilizing lift forces from the membrane between their legs. They possess a highly flexible membrane that allows for unrestrained movement of the legs.<sup id="cite_ref-:0_13-0" class="reference"><a href="#cite_note-:0-13"><span class="cite-bracket">[</span>13<span class="cite-bracket">]</span></a></sup> They use their highly elastic membrane to glide while in air and demonstrate lithe movement on the ground. In addition, Pteromyini are able to exhibit multi-modal locomotion due to the membrane that connects the fore and hind legs which also enhances their gliding ability.<sup id="cite_ref-:0_13-1" class="reference"><a href="#cite_note-:0-13"><span class="cite-bracket">[</span>13<span class="cite-bracket">]</span></a></sup> It has been proven that a flexible membrane possesses a higher lift coefficient than rigid plates and delays the angle of attack at which stall occurs.<sup id="cite_ref-:0_13-2" class="reference"><a href="#cite_note-:0-13"><span class="cite-bracket">[</span>13<span class="cite-bracket">]</span></a></sup> The flying squirrel also possesses thick bundles on the edges of its membrane, wingtips and tail which helps to minimize fluctuations and unnecessary energy loss.<sup id="cite_ref-:0_13-3" class="reference"><a href="#cite_note-:0-13"><span class="cite-bracket">[</span>13<span class="cite-bracket">]</span></a></sup> </p> <figure class="mw-default-size" typeof="mw:File/Thumb"><a href="/wiki/File:Platyrrhinus_helleri2.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/6/6d/Platyrrhinus_helleri2.jpg/220px-Platyrrhinus_helleri2.jpg" decoding="async" width="220" height="219" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/6/6d/Platyrrhinus_helleri2.jpg/330px-Platyrrhinus_helleri2.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/6/6d/Platyrrhinus_helleri2.jpg/440px-Platyrrhinus_helleri2.jpg 2x" data-file-width="800" data-file-height="797" /></a><figcaption>Image showing the location of the uropatagium</figcaption></figure> <p>Pteromyini are able to boost their gliding ability due to the numerous physical attributes they possess. </p><p>The flexible muscle structure serves multiple purposes. For one, the <a href="/wiki/Patagium" title="Patagium">plagiopatagium</a>, which serves as the primary generator of lift for the flying squirrel, is able to effectively function due to its thin and flexible muscles.<sup id="cite_ref-:1_14-0" class="reference"><a href="#cite_note-:1-14"><span class="cite-bracket">[</span>14<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-:2_15-0" class="reference"><a href="#cite_note-:2-15"><span class="cite-bracket">[</span>15<span class="cite-bracket">]</span></a></sup> The plagiopatagium is able to control tension on the membrane due to contraction and expansion. Tension control can ultimately help in energy savings due to minimized fluttering of the membrane. Once the squirrel lands, it contracts its membrane to ensure that the membrane does not sag when it is walking.<sup id="cite_ref-:2_15-1" class="reference"><a href="#cite_note-:2-15"><span class="cite-bracket">[</span>15<span class="cite-bracket">]</span></a></sup> </p><p>The propatagium and uropatagium serve to provide extra lift for Pteromyini.<sup id="cite_ref-:2_15-2" class="reference"><a href="#cite_note-:2-15"><span class="cite-bracket">[</span>15<span class="cite-bracket">]</span></a></sup> While the propatagium is situated between the head and forelimbs of the flying squirrel, the uropatagium is located at the tail and hind limbs and these serve to provide the flying squirrel with increased agility and drag for landing.<sup id="cite_ref-:2_15-3" class="reference"><a href="#cite_note-:2-15"><span class="cite-bracket">[</span>15<span class="cite-bracket">]</span></a></sup> </p><p>Additionally, the flying squirrel possesses thick rope-like muscle structures on the edges of its membrane to maintain the shape of the membranes.<sup id="cite_ref-:2_15-4" class="reference"><a href="#cite_note-:2-15"><span class="cite-bracket">[</span>15<span class="cite-bracket">]</span></a></sup> These muscular structures called platysma, tibiocarpalis, and <a href="/wiki/Semitendinosus_muscle" title="Semitendinosus muscle">semitendinosus</a>, are located on the propatagium, plagiopatagium and uropatagium respectively.<sup id="cite_ref-:2_15-5" class="reference"><a href="#cite_note-:2-15"><span class="cite-bracket">[</span>15<span class="cite-bracket">]</span></a></sup> These thick muscle structures serve to guard against unnecessary fluttering due to strong wind pressures during gliding hence minimizing energy loss.<sup id="cite_ref-:2_15-6" class="reference"><a href="#cite_note-:2-15"><span class="cite-bracket">[</span>15<span class="cite-bracket">]</span></a></sup> </p><p>The wingtips are situated at the forelimb wrists and serve to form an <a href="/wiki/Airfoil" title="Airfoil">airfoil</a> which minimizes the effect of <a href="/wiki/Lift-induced_drag" title="Lift-induced drag">induced drag</a> due to the formation of <a href="/wiki/Wingtip_vortices" title="Wingtip vortices">wingtip vortices</a>.<sup id="cite_ref-:1_14-1" class="reference"><a href="#cite_note-:1-14"><span class="cite-bracket">[</span>14<span class="cite-bracket">]</span></a></sup> The wingtips dampen the effects of the vortices and obstruct the induced drag from affecting the whole wing. Flying squirrels are able to unfold and fold their wingtips while gliding by using their thumbs. This serves to prevent undesired sagging of the wingtips.<sup id="cite_ref-:1_14-2" class="reference"><a href="#cite_note-:1-14"><span class="cite-bracket">[</span>14<span class="cite-bracket">]</span></a></sup> </p><p>The tail of the flying squirrel allows for improved gliding abilities as it plays a critical role. As opposed to other vertebrates, Pteromyini possess a tail that is flattened to gain more aerodynamic surface as they glide.<sup id="cite_ref-16" class="reference"><a href="#cite_note-16"><span class="cite-bracket">[</span>16<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-17" class="reference"><a href="#cite_note-17"><span class="cite-bracket">[</span>17<span class="cite-bracket">]</span></a></sup> This also allows the flying squirrel to maintain pitch angle stability of its tail. This is particularly useful during landing as the flying squirrel is able to widen its pitch angle and induce more drag so as to decelerate and land safely.<sup id="cite_ref-:2_15-7" class="reference"><a href="#cite_note-:2-15"><span class="cite-bracket">[</span>15<span class="cite-bracket">]</span></a></sup> </p><p>Furthermore, the legs and tail of Pteromyini serve to control their gliding direction. Due to the flexibility of the membranes around the legs, the chord angle and dihedral angle between the membrane and coronal plane of the body is controlled.<sup id="cite_ref-:0_13-4" class="reference"><a href="#cite_note-:0-13"><span class="cite-bracket">[</span>13<span class="cite-bracket">]</span></a></sup> This allows the animal to create rolling, pitching, and yawing movements which in turn control the speed and direction of the gliding.<sup id="cite_ref-:3_18-0" class="reference"><a href="#cite_note-:3-18"><span class="cite-bracket">[</span>18<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-:4_19-0" class="reference"><a href="#cite_note-:4-19"><span class="cite-bracket">[</span>19<span class="cite-bracket">]</span></a></sup> During landing, the animal is able to rapidly reduce its speed by increasing drag and changing its pitch angle using its membranes and further increasing air resistance by loosening the tension between the membranes of its legs.<sup id="cite_ref-:3_18-1" class="reference"><a href="#cite_note-:3-18"><span class="cite-bracket">[</span>18<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-:4_19-1" class="reference"><a href="#cite_note-:4-19"><span class="cite-bracket">[</span>19<span class="cite-bracket">]</span></a></sup> </p><p><b>Desmodus Rotundus (vampire bat)</b> </p> <figure class="mw-default-size" typeof="mw:File/Thumb"><a href="/wiki/File:Desmodus_rotundus_1.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/8/8f/Desmodus_rotundus_1.jpg/220px-Desmodus_rotundus_1.jpg" decoding="async" width="220" height="165" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/8/8f/Desmodus_rotundus_1.jpg/330px-Desmodus_rotundus_1.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/8/8f/Desmodus_rotundus_1.jpg/440px-Desmodus_rotundus_1.jpg 2x" data-file-width="800" data-file-height="600" /></a><figcaption>Image showing the Desmodus Rotundus (vampire bat)</figcaption></figure> <p>The common <a href="/wiki/Vampire_bat" title="Vampire bat">vampire bats</a> are known to possess powerful modes of terrestrial locomotion, such as jumping, and aerial locomotion such as gliding. Several studies have demonstrated that the morphology of the bat enables it to easily and effectively alternate between both locomotive modes.<sup id="cite_ref-:5_20-0" class="reference"><a href="#cite_note-:5-20"><span class="cite-bracket">[</span>20<span class="cite-bracket">]</span></a></sup> The anatomy that aids in this is essentially built around the largest muscle in the body of the bat, <i>pectoralis profundus</i> (posterior division).<sup id="cite_ref-:5_20-1" class="reference"><a href="#cite_note-:5-20"><span class="cite-bracket">[</span>20<span class="cite-bracket">]</span></a></sup> Between the two modes of locomotion, there are three bones that are shared. These three main bones are integral parts of the arm structure, namely the humerus, ulna, and radius. Since there already exists a sharing of components for both modes, no additional muscles are needed when transitioning from jumping to gliding.<sup id="cite_ref-:5_20-2" class="reference"><a href="#cite_note-:5-20"><span class="cite-bracket">[</span>20<span class="cite-bracket">]</span></a></sup> </p> <figure class="mw-default-size" typeof="mw:File/Thumb"><a href="/wiki/File:Schistocerca_gregaria_-_normal.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/6/6f/Schistocerca_gregaria_-_normal.jpg/220px-Schistocerca_gregaria_-_normal.jpg" decoding="async" width="220" height="160" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/6/6f/Schistocerca_gregaria_-_normal.jpg/330px-Schistocerca_gregaria_-_normal.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/6/6f/Schistocerca_gregaria_-_normal.jpg/440px-Schistocerca_gregaria_-_normal.jpg 2x" data-file-width="2580" data-file-height="1875" /></a><figcaption>Image showing the schistocerca gregaria (desert locust)</figcaption></figure> <p>A detailed study of the morphology of the shoulder of the bat shows that the bones of the arm are slightly sturdier and the ulna and the radius have been fused so as to accommodate heavy reaction forces from the ground<sup id="cite_ref-:5_20-3" class="reference"><a href="#cite_note-:5-20"><span class="cite-bracket">[</span>20<span class="cite-bracket">]</span></a></sup> </p><p><b>Schistocerca gregaria (desert locust)</b> </p><p>The <a href="/wiki/Desert_locust" title="Desert locust">desert locust</a> is known for its ability to jump and fly over long distances as well as crawl on land.<sup id="cite_ref-21" class="reference"><a href="#cite_note-21"><span class="cite-bracket">[</span>21<span class="cite-bracket">]</span></a></sup> A detailed study of the anatomy of this organism provides some detail about the mechanisms for locomotion. The hind legs of the locust are developed for jumping. They possess a semi-lunar process which consists of the large extensor tibiae muscle, small flexor tibiae muscle, and banana-shaped thickened cuticle.<sup id="cite_ref-:6_22-0" class="reference"><a href="#cite_note-:6-22"><span class="cite-bracket">[</span>22<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-:7_23-0" class="reference"><a href="#cite_note-:7-23"><span class="cite-bracket">[</span>23<span class="cite-bracket">]</span></a></sup> When the tibiae muscle flexes, the mechanical advantage of the muscles and the vertical thrust component of the leg extension are increased.<sup id="cite_ref-24" class="reference"><a href="#cite_note-24"><span class="cite-bracket">[</span>24<span class="cite-bracket">]</span></a></sup> These desert locusts utilize a catapult mechanism wherein the energy is first stored in the hind legs and then released to extend the legs.<sup id="cite_ref-25" class="reference"><a href="#cite_note-25"><span class="cite-bracket">[</span>25<span class="cite-bracket">]</span></a></sup> </p><p>In order for a perfect jump to occur, the locust must push its legs on the ground with a strong enough force so as to initiate a fast takeoff. The force must be adequate enough in order to attain a quick takeoff and decent jump height. The force must also be generated quickly. In order to effectively transition from the jumping mode to the flying mode, the insect must adjust the time during the wing opening to maximize the distance and height of the jump. When it is at the zenith of its jump, the flight mode becomes actuated.<sup id="cite_ref-:6_22-1" class="reference"><a href="#cite_note-:6-22"><span class="cite-bracket">[</span>22<span class="cite-bracket">]</span></a></sup> </p> <div class="mw-heading mw-heading2"><h2 id="Multi-modal_robot_locomotion_based_on_bio-inspiration">Multi-modal robot locomotion based on bio-inspiration</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robot_locomotion&action=edit&section=12" title="Edit section: Multi-modal robot locomotion based on bio-inspiration"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p><b>Modeling of a multi-modal walking and gliding robot after Pteromyini (flying squirrels)</b> </p><p>Following the discovery of the requisite model to mimic, researchers sought to design a legged robot that was capable of achieving effective motion in aerial and terrestrial environments by the use of a flexible membrane. Thus, to achieve this goal, the following design considerations had to be taken into account: </p><p>1.       The shape and area of the membrane had to be consciously selected so that the intended aerodynamic capabilities of this membrane could be achieved. Additionally, the design of the membrane would affect the design of the legs since the membrane is attached to the legs.<sup id="cite_ref-:0_13-5" class="reference"><a href="#cite_note-:0-13"><span class="cite-bracket">[</span>13<span class="cite-bracket">]</span></a></sup> </p><p>2.       The membrane had to be flexible enough to allow for unrestricted movement of the legs during gliding and walking. However, the amount of flexibility had to be controlled due to the fact that excessive flexibility could lead to a significant loss of energy caused by the oscillations at regions of the membrane where strong pressure occur.<sup id="cite_ref-:0_13-6" class="reference"><a href="#cite_note-:0-13"><span class="cite-bracket">[</span>13<span class="cite-bracket">]</span></a></sup> </p><p>3.       The leg of the robot had to be designed to allow for appropriate torques for walking as well as gliding.<sup id="cite_ref-:0_13-7" class="reference"><a href="#cite_note-:0-13"><span class="cite-bracket">[</span>13<span class="cite-bracket">]</span></a></sup> </p><p>In order to incorporate these factors, close attention had to be paid to the characteristics of the flying squirrel. The aerodynamic features of the robot were modeled using dynamic modeling and simulation. By imitating the thick muscle bundles of the membrane of the flying squirrel, the designers were able to minimize the fluctuations and oscillations on the membrane edges of the robot, thus reducing needless energy loss.<sup id="cite_ref-:0_13-8" class="reference"><a href="#cite_note-:0-13"><span class="cite-bracket">[</span>13<span class="cite-bracket">]</span></a></sup> Furthermore, the amount of drag on the wing of the robot was reduced by the use of retractable wingtips thereby allowing for improved gliding abilities.<sup id="cite_ref-:1_14-3" class="reference"><a href="#cite_note-:1-14"><span class="cite-bracket">[</span>14<span class="cite-bracket">]</span></a></sup> Moreover, the leg of the robot was designed to incorporate sufficient torque after mimicking the anatomy of Pteryomini's leg using virtual work analysis.<sup id="cite_ref-:0_13-9" class="reference"><a href="#cite_note-:0-13"><span class="cite-bracket">[</span>13<span class="cite-bracket">]</span></a></sup> </p><p>Following the design of the leg and membrane of the robot, its average gliding ratio (GR) was determined to be 1.88. The robot functioned effectively, walking in several gait patterns and crawling with its high DoF legs.<sup id="cite_ref-:0_13-10" class="reference"><a href="#cite_note-:0-13"><span class="cite-bracket">[</span>13<span class="cite-bracket">]</span></a></sup> The robot was also able to land safely. These performances demonstrated the gliding and walking capabilities of the robot and its multi-modal locomotion </p><p><b>Modeling of a multi-modal jumping and gliding robot after the Desmodus Rotundus (vampire bat)</b> </p><p>The design of the robot called Multi-Mo Bat involved the establishment of four primary phases of operation: energy storage phase, jumping phase, coasting phase, and gliding phase.<sup id="cite_ref-:5_20-4" class="reference"><a href="#cite_note-:5-20"><span class="cite-bracket">[</span>20<span class="cite-bracket">]</span></a></sup> The energy storing phase essentially involves the reservation of energy for the jumping energy. This energy is stored in the main power springs. This process additionally creates a torque around the joint of the shoulders which in turn configures the legs for jumping. Once the stored energy is released, the jump phase can be initiated. When the jump phase is initiated and the robot takes off from the ground, it transitions to the coast phase which occurs until the acme is reached and it begins to descend. As the robot descends, drag helps to reduce the speed at which it descends as the wing is reconfigured due to increased drag on the bottom of the airfoils.<sup id="cite_ref-:5_20-5" class="reference"><a href="#cite_note-:5-20"><span class="cite-bracket">[</span>20<span class="cite-bracket">]</span></a></sup> At this stage, the robot glides down. </p><p>The anatomy of the arm of the vampire bat plays a key role in the design of the leg of the robot. In order to minimize the number of Degrees of Freedom (DoFs), the two components of the arm are mirrored over the xz plane.<sup id="cite_ref-:5_20-6" class="reference"><a href="#cite_note-:5-20"><span class="cite-bracket">[</span>20<span class="cite-bracket">]</span></a></sup> This then creates the four-bar design of the leg structure of the robot which results in only two independent DoFs.<sup id="cite_ref-:5_20-7" class="reference"><a href="#cite_note-:5-20"><span class="cite-bracket">[</span>20<span class="cite-bracket">]</span></a></sup> </p><p><b>Modeling of a multi-modal jumping and flying robot after the Schistocerca gregaria (desert locust)</b> </p><p>The robot designed was powered by a single DC motor which integrated the performances of jumping and flapping.<sup id="cite_ref-:7_23-1" class="reference"><a href="#cite_note-:7-23"><span class="cite-bracket">[</span>23<span class="cite-bracket">]</span></a></sup> It was designed as an incorporation of the inverted slider-crank mechanism for the construction of the legs, a dog-clutch system to serve as the mechanism for winching, and a rack-pinion mechanism used for the flapping-wing system.<sup id="cite_ref-:5_20-8" class="reference"><a href="#cite_note-:5-20"><span class="cite-bracket">[</span>20<span class="cite-bracket">]</span></a></sup> This design incorporated a very efficient energy storage and release mechanism and an integrated wing flapping mechanism.<sup id="cite_ref-:5_20-9" class="reference"><a href="#cite_note-:5-20"><span class="cite-bracket">[</span>20<span class="cite-bracket">]</span></a></sup> </p><p>A robot with features similar to the locust was developed. The primary feature of the robot's design was a gear system powered by a single motor which allowed the robot to perform its jumping and flapping motions. Just like the motion of the locust, the motion of the robot is initiated by the flexing of the legs to the position of maximum energy storage after which the energy is released immediately to generate the force necessary to attain flight.<sup id="cite_ref-:5_20-10" class="reference"><a href="#cite_note-:5-20"><span class="cite-bracket">[</span>20<span class="cite-bracket">]</span></a></sup> </p><p>The robot was tested for performance and the results demonstrated that the robot was able to jump to an approximate height of 0.9m while weighing 23g and flapping its wings at a frequency of about 19 Hz.<sup id="cite_ref-:5_20-11" class="reference"><a href="#cite_note-:5-20"><span class="cite-bracket">[</span>20<span class="cite-bracket">]</span></a></sup> The robot tested without flapping wings performed less impressively, showing about 30% decrease in jumping performance as compared to the robot with the wings.<sup id="cite_ref-:5_20-12" class="reference"><a href="#cite_note-:5-20"><span class="cite-bracket">[</span>20<span class="cite-bracket">]</span></a></sup> These results are quite impressive<sup class="noprint Inline-Template" style="white-space:nowrap;">[<i><a href="/wiki/Wikipedia:EDITORIALIZING" class="mw-redirect" title="Wikipedia:EDITORIALIZING"><span title="A statement that draws an independent conclusion. (July 2021)">editorializing</span></a></i>]</sup> as it is expected that the reverse be the case since the weight of the wings should have impacted the jumping. </p> <div class="mw-heading mw-heading2"><h2 id="Approaches">Approaches</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robot_locomotion&action=edit&section=13" title="Edit section: Approaches"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <ul><li><a href="/wiki/Product_optimization" title="Product optimization">Product optimization</a></li> <li><a href="/wiki/Motion_planning" title="Motion planning">Motion planning</a></li> <li><a href="/wiki/Motion_capture" title="Motion capture">Motion capture</a> may be performed on humans, insects and other organisms.</li> <li><a href="/wiki/Machine_learning" title="Machine learning">Machine learning</a>, typically with <a href="/wiki/Reinforcement_learning" title="Reinforcement learning">reinforcement learning</a>.</li></ul> <div class="mw-heading mw-heading2"><h2 id="Notable_researchers_in_the_field">Notable researchers in the field</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robot_locomotion&action=edit&section=14" title="Edit section: Notable researchers in the field"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <ul><li><a href="/wiki/Rodney_Brooks" title="Rodney Brooks">Rodney Brooks</a></li> <li><a href="/wiki/Marc_Raibert" title="Marc Raibert">Marc Raibert</a></li> <li><a href="/wiki/Jessica_Hodgins" title="Jessica Hodgins">Jessica Hodgins</a></li> <li><a href="/wiki/Red_Whittaker" title="Red Whittaker">Red Whittaker</a></li> <li>Shuuji Kajita, who introduced preview control<sup id="cite_ref-26" class="reference"><a href="#cite_note-26"><span class="cite-bracket">[</span>26<span class="cite-bracket">]</span></a></sup> to realize the anticipatory nature of walking in humanoid robots of the <a href="/wiki/Humanoid_Robotics_Project" title="Humanoid Robotics Project">Humanoid Robotics Project</a>.</li></ul> <div class="mw-heading mw-heading2"><h2 id="See_also">See also</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robot_locomotion&action=edit&section=15" title="Edit section: See also"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <ul><li><a href="/wiki/Microswimmer" title="Microswimmer">Microswimmer</a></li></ul> <div class="mw-heading mw-heading2"><h2 id="References">References</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robot_locomotion&action=edit&section=16" title="Edit section: References"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <style data-mw-deduplicate="TemplateStyles:r1239543626">.mw-parser-output .reflist{margin-bottom:0.5em;list-style-type:decimal}@media screen{.mw-parser-output .reflist{font-size:90%}}.mw-parser-output .reflist .references{font-size:100%;margin-bottom:0;list-style-type:inherit}.mw-parser-output .reflist-columns-2{column-width:30em}.mw-parser-output .reflist-columns-3{column-width:25em}.mw-parser-output .reflist-columns{margin-top:0.3em}.mw-parser-output .reflist-columns ol{margin-top:0}.mw-parser-output .reflist-columns li{page-break-inside:avoid;break-inside:avoid-column}.mw-parser-output .reflist-upper-alpha{list-style-type:upper-alpha}.mw-parser-output .reflist-upper-roman{list-style-type:upper-roman}.mw-parser-output .reflist-lower-alpha{list-style-type:lower-alpha}.mw-parser-output .reflist-lower-greek{list-style-type:lower-greek}.mw-parser-output .reflist-lower-roman{list-style-type:lower-roman}</style><div class="reflist"> <div class="mw-references-wrap mw-references-columns"><ol class="references"> <li id="cite_note-1"><span class="mw-cite-backlink"><b><a href="#cite_ref-1">^</a></b></span> <span class="reference-text"><style data-mw-deduplicate="TemplateStyles:r1238218222">.mw-parser-output cite.citation{font-style:inherit;word-wrap:break-word}.mw-parser-output .citation q{quotes:"\"""\"""'""'"}.mw-parser-output .citation:target{background-color:rgba(0,127,255,0.133)}.mw-parser-output .id-lock-free.id-lock-free a{background:url("//upload.wikimedia.org/wikipedia/commons/6/65/Lock-green.svg")right 0.1em center/9px no-repeat}.mw-parser-output .id-lock-limited.id-lock-limited a,.mw-parser-output .id-lock-registration.id-lock-registration a{background:url("//upload.wikimedia.org/wikipedia/commons/d/d6/Lock-gray-alt-2.svg")right 0.1em center/9px no-repeat}.mw-parser-output .id-lock-subscription.id-lock-subscription a{background:url("//upload.wikimedia.org/wikipedia/commons/a/aa/Lock-red-alt-2.svg")right 0.1em center/9px no-repeat}.mw-parser-output .cs1-ws-icon a{background:url("//upload.wikimedia.org/wikipedia/commons/4/4c/Wikisource-logo.svg")right 0.1em center/12px no-repeat}body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-free a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-limited a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-registration a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-subscription a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .cs1-ws-icon a{background-size:contain;padding:0 1em 0 0}.mw-parser-output .cs1-code{color:inherit;background:inherit;border:none;padding:inherit}.mw-parser-output .cs1-hidden-error{display:none;color:var(--color-error,#d33)}.mw-parser-output .cs1-visible-error{color:var(--color-error,#d33)}.mw-parser-output .cs1-maint{display:none;color:#085;margin-left:0.3em}.mw-parser-output .cs1-kern-left{padding-left:0.2em}.mw-parser-output .cs1-kern-right{padding-right:0.2em}.mw-parser-output .citation .mw-selflink{font-weight:inherit}@media screen{.mw-parser-output .cs1-format{font-size:95%}html.skin-theme-clientpref-night .mw-parser-output .cs1-maint{color:#18911f}}@media screen and (prefers-color-scheme:dark){html.skin-theme-clientpref-os .mw-parser-output .cs1-maint{color:#18911f}}</style><cite id="CITEREFGhassaei,_Amanda2011" class="citation thesis cs1">Ghassaei, Amanda (20 April 2011). <a rel="nofollow" class="external text" href="http://www.amandaghassaei.com/files/thesis.pdf"><i>The Design and Optimization of a Crank-Based Leg Mechanism</i></a> <span class="cs1-format">(PDF)</span> (Thesis). Pomona College. <a rel="nofollow" class="external text" href="https://web.archive.org/web/20131029234530/http://www.amandaghassaei.com/files/thesis.pdf">Archived</a> <span class="cs1-format">(PDF)</span> from the original on 29 October 2013<span class="reference-accessdate">. Retrieved <span class="nowrap">18 October</span> 2018</span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adissertation&rft.title=The+Design+and+Optimization+of+a+Crank-Based+Leg+Mechanism&rft.inst=Pomona+College&rft.date=2011-04-20&rft.au=Ghassaei%2C+Amanda&rft_id=http%3A%2F%2Fwww.amandaghassaei.com%2Ffiles%2Fthesis.pdf&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span></span> </li> <li id="cite_note-2"><span class="mw-cite-backlink"><b><a href="#cite_ref-2">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFSneiderman2018" class="citation web cs1">Sneiderman, Phil (13 February 2018). <a rel="nofollow" class="external text" href="https://hub.jhu.edu/2018/02/13/cockroach-locomotion-robotics-research/">"By studying cockroach locomotion, scientists learn how to build better, more mobile robots"</a>. <i>Hub</i>. <a href="/wiki/Johns_Hopkins_University" title="Johns Hopkins University">Johns Hopkins University</a><span class="reference-accessdate">. Retrieved <span class="nowrap">18 October</span> 2018</span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=unknown&rft.jtitle=Hub&rft.atitle=By+studying+cockroach+locomotion%2C+scientists+learn+how+to+build+better%2C+more+mobile+robots&rft.date=2018-02-13&rft.aulast=Sneiderman&rft.aufirst=Phil&rft_id=https%3A%2F%2Fhub.jhu.edu%2F2018%2F02%2F13%2Fcockroach-locomotion-robotics-research%2F&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span></span> </li> <li id="cite_note-3"><span class="mw-cite-backlink"><b><a href="#cite_ref-3">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite class="citation web cs1"><a rel="nofollow" class="external text" href="http://www.ai.mit.edu/projects/leglab/robots/3D_hopper/3D_hopper.html">"3D One-Leg Hopper (1983–1984)"</a>. MIT Leg Laboratory<span class="reference-accessdate">. Retrieved <span class="nowrap">2007-10-22</span></span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=3D+One-Leg+Hopper+%281983%E2%80%931984%29&rft.pub=MIT+Leg+Laboratory&rft_id=http%3A%2F%2Fwww.ai.mit.edu%2Fprojects%2Fleglab%2Frobots%2F3D_hopper%2F3D_hopper.html&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span></span> </li> <li id="cite_note-4"><span class="mw-cite-backlink"><b><a href="#cite_ref-4">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite class="citation web cs1"><a rel="nofollow" class="external text" href="http://www.ai.mit.edu/projects/leglab/robots/3D_biped/3D_biped.html">"3D Biped (1989–1995)"</a>. MIT Leg Laboratory.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=3D+Biped+%281989%E2%80%931995%29&rft.pub=MIT+Leg+Laboratory&rft_id=http%3A%2F%2Fwww.ai.mit.edu%2Fprojects%2Fleglab%2Frobots%2F3D_biped%2F3D_biped.html&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span></span> </li> <li id="cite_note-5"><span class="mw-cite-backlink"><b><a href="#cite_ref-5">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite class="citation web cs1"><a rel="nofollow" class="external text" href="http://www.ai.mit.edu/projects/leglab/robots/quadruped/quadruped.html">"Quadruped (1984–1987)"</a>. MIT Leg Laboratory.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=Quadruped+%281984%E2%80%931987%29&rft.pub=MIT+Leg+Laboratory&rft_id=http%3A%2F%2Fwww.ai.mit.edu%2Fprojects%2Fleglab%2Frobots%2Fquadruped%2Fquadruped.html&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span></span> </li> <li id="cite_note-6"><span class="mw-cite-backlink"><b><a href="#cite_ref-6">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFA._Spröwitz,_A._Tuleu,_M._Vespignani,_M._Ajallooeian,_E._Badri,_A._J._Ijspeert2013" class="citation journal cs1">A. Spröwitz, A. Tuleu, M. Vespignani, M. Ajallooeian, E. Badri, A. J. Ijspeert (2013). <a rel="nofollow" class="external text" href="http://infoscience.epfl.ch/record/184991">"Towards dynamic trot gait locomotion: Design control and experiments with cheetah-cub a compliant quadruped robot"</a>. <i>The International Journal of Robotics Research</i>. <b>32</b> (8): <span class="nowrap">932–</span>950. <a href="/wiki/Doi_(identifier)" class="mw-redirect" title="Doi (identifier)">doi</a>:<a rel="nofollow" class="external text" href="https://doi.org/10.1177%2F0278364913489205">10.1177/0278364913489205</a>. <a href="/wiki/S2CID_(identifier)" class="mw-redirect" title="S2CID (identifier)">S2CID</a> <a rel="nofollow" class="external text" href="https://api.semanticscholar.org/CorpusID:90770">90770</a>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=The+International+Journal+of+Robotics+Research&rft.atitle=Towards+dynamic+trot+gait+locomotion%3A+Design+control+and+experiments+with+cheetah-cub+a+compliant+quadruped+robot&rft.volume=32&rft.issue=8&rft.pages=%3Cspan+class%3D%22nowrap%22%3E932-%3C%2Fspan%3E950&rft.date=2013&rft_id=info%3Adoi%2F10.1177%2F0278364913489205&rft_id=https%3A%2F%2Fapi.semanticscholar.org%2FCorpusID%3A90770%23id-name%3DS2CID&rft.au=A.+Spr%C3%B6witz%2C+A.+Tuleu%2C+M.+Vespignani%2C+M.+Ajallooeian%2C+E.+Badri%2C+A.+J.+Ijspeert&rft_id=http%3A%2F%2Finfoscience.epfl.ch%2Frecord%2F184991&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span><span class="cs1-maint citation-comment"><code class="cs1-code">{{<a href="/wiki/Template:Cite_journal" title="Template:Cite journal">cite journal</a>}}</code>: CS1 maint: multiple names: authors list (<a href="/wiki/Category:CS1_maint:_multiple_names:_authors_list" title="Category:CS1 maint: multiple names: authors list">link</a>)</span></span> </li> <li id="cite_note-7"><span class="mw-cite-backlink"><b><a href="#cite_ref-7">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFH._Kimura,_Y._Fukuoka,_A._H._Cohen2004" class="citation journal cs1">H. Kimura, Y. Fukuoka, A. H. Cohen (2004). "Biologically inspired adaptive dynamic walking of a quadruped robot". <i>Proceedings of the International Conference on the Simulation of Adaptive Behavior</i>: <span class="nowrap">201–</span>210.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=Proceedings+of+the+International+Conference+on+the+Simulation+of+Adaptive+Behavior&rft.atitle=Biologically+inspired+adaptive+dynamic+walking+of+a+quadruped+robot&rft.pages=%3Cspan+class%3D%22nowrap%22%3E201-%3C%2Fspan%3E210&rft.date=2004&rft.au=H.+Kimura%2C+Y.+Fukuoka%2C+A.+H.+Cohen&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span><span class="cs1-maint citation-comment"><code class="cs1-code">{{<a href="/wiki/Template:Cite_journal" title="Template:Cite journal">cite journal</a>}}</code>: CS1 maint: multiple names: authors list (<a href="/wiki/Category:CS1_maint:_multiple_names:_authors_list" title="Category:CS1 maint: multiple names: authors list">link</a>)</span></span> </li> <li id="cite_note-8"><span class="mw-cite-backlink"><b><a href="#cite_ref-8">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFMiller" class="citation web cs1">Miller, Gavin. <a rel="nofollow" class="external text" href="http://www.snakerobots.com/">"Introduction"</a>. snakerobots.com<span class="reference-accessdate">. Retrieved <span class="nowrap">2007-10-22</span></span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=Introduction&rft.pub=snakerobots.com&rft.aulast=Miller&rft.aufirst=Gavin&rft_id=http%3A%2F%2Fwww.snakerobots.com%2F&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span></span> </li> <li id="cite_note-9"><span class="mw-cite-backlink"><b><a href="#cite_ref-9">^</a></b></span> <span class="reference-text"><a rel="nofollow" class="external text" href="http://www-robot.mes.titech.ac.jp/robot/snake/acm-r5/acm-r5_e.html">ACM-R5</a> <a rel="nofollow" class="external text" href="https://web.archive.org/web/20111011030934/http://www-robot.mes.titech.ac.jp/robot/snake/acm-r5/acm-r5_e.html">Archived</a> 2011-10-11 at the <a href="/wiki/Wayback_Machine" title="Wayback Machine">Wayback Machine</a></span> </li> <li id="cite_note-10"><span class="mw-cite-backlink"><b><a href="#cite_ref-10">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://web.archive.org/web/20120208074204/http://video.google.com/videoplay?docid=139523333240485714">"Swimming snake robot (commentary in Japanese)"</a>. Archived from <a rel="nofollow" class="external text" href="http://video.google.com/videoplay?docid=139523333240485714">the original</a> on 2012-02-08<span class="reference-accessdate">. Retrieved <span class="nowrap">2011-10-26</span></span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=Swimming+snake+robot+%28commentary+in+Japanese%29&rft_id=http%3A%2F%2Fvideo.google.com%2Fvideoplay%3Fdocid%3D139523333240485714&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span></span> </li> <li id="cite_note-11"><span class="mw-cite-backlink"><b><a href="#cite_ref-11">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://www.popsci.com/technology/article/2012-05/video-gibbot-brachiating-bot-swings-its-arm-ape/">"Video: Brachiating 'Bot Swings Its Arm Like An Ape"</a>. <i>Popular Science</i>. 2019-03-18<span class="reference-accessdate">. Retrieved <span class="nowrap">2021-07-30</span></span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=unknown&rft.jtitle=Popular+Science&rft.atitle=Video%3A+Brachiating+%27Bot+Swings+Its+Arm+Like+An+Ape&rft.date=2019-03-18&rft_id=https%3A%2F%2Fwww.popsci.com%2Ftechnology%2Farticle%2F2012-05%2Fvideo-gibbot-brachiating-bot-swings-its-arm-ape%2F&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span></span> </li> <li id="cite_note-12"><span class="mw-cite-backlink"><b><a href="#cite_ref-12">^</a></b></span> <span class="reference-text">Rohan Thakker, Ajinkya Kamat, Sachin Bharambe, Shital Chiddarwar and K. M. Bhurchandi. “ReBiS- Reconfigurable Bipedal Snake Robot.” In Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014.</span> </li> <li id="cite_note-:0-13"><span class="mw-cite-backlink">^ <a href="#cite_ref-:0_13-0"><sup><i><b>a</b></i></sup></a> <a href="#cite_ref-:0_13-1"><sup><i><b>b</b></i></sup></a> <a href="#cite_ref-:0_13-2"><sup><i><b>c</b></i></sup></a> <a href="#cite_ref-:0_13-3"><sup><i><b>d</b></i></sup></a> <a href="#cite_ref-:0_13-4"><sup><i><b>e</b></i></sup></a> <a href="#cite_ref-:0_13-5"><sup><i><b>f</b></i></sup></a> <a href="#cite_ref-:0_13-6"><sup><i><b>g</b></i></sup></a> <a href="#cite_ref-:0_13-7"><sup><i><b>h</b></i></sup></a> <a href="#cite_ref-:0_13-8"><sup><i><b>i</b></i></sup></a> <a href="#cite_ref-:0_13-9"><sup><i><b>j</b></i></sup></a> <a href="#cite_ref-:0_13-10"><sup><i><b>k</b></i></sup></a></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFShinParkPark2019" class="citation journal cs1">Shin, Won Dong; Park, Jaejun; Park, Hae-Won (July 2019). <a rel="nofollow" class="external text" href="https://doi.org/10.1088%2F1748-3190%2Fab2ab7">"Development and experiments of a bio-inspired robot with multi-mode in aerial and terrestrial locomotion"</a>. <i>Bioinspiration & Biomimetics</i>. <b>14</b> (5): 056009. <a href="/wiki/Bibcode_(identifier)" class="mw-redirect" title="Bibcode (identifier)">Bibcode</a>:<a rel="nofollow" class="external text" href="https://ui.adsabs.harvard.edu/abs/2019BiBi...14e6009S">2019BiBi...14e6009S</a>. <a href="/wiki/Doi_(identifier)" class="mw-redirect" title="Doi (identifier)">doi</a>:<span class="id-lock-free" title="Freely accessible"><a rel="nofollow" class="external text" href="https://doi.org/10.1088%2F1748-3190%2Fab2ab7">10.1088/1748-3190/ab2ab7</a></span>. <a href="/wiki/ISSN_(identifier)" class="mw-redirect" title="ISSN (identifier)">ISSN</a> <a rel="nofollow" class="external text" href="https://search.worldcat.org/issn/1748-3190">1748-3190</a>. <a href="/wiki/PMID_(identifier)" class="mw-redirect" title="PMID (identifier)">PMID</a> <a rel="nofollow" class="external text" href="https://pubmed.ncbi.nlm.nih.gov/31212268">31212268</a>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=Bioinspiration+%26+Biomimetics&rft.atitle=Development+and+experiments+of+a+bio-inspired+robot+with+multi-mode+in+aerial+and+terrestrial+locomotion&rft.volume=14&rft.issue=5&rft.pages=056009&rft.date=2019-07&rft_id=info%3Adoi%2F10.1088%2F1748-3190%2Fab2ab7&rft.issn=1748-3190&rft_id=info%3Apmid%2F31212268&rft_id=info%3Abibcode%2F2019BiBi...14e6009S&rft.aulast=Shin&rft.aufirst=Won+Dong&rft.au=Park%2C+Jaejun&rft.au=Park%2C+Hae-Won&rft_id=https%3A%2F%2Fdoi.org%2F10.1088%252F1748-3190%252Fab2ab7&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span></span> </li> <li id="cite_note-:1-14"><span class="mw-cite-backlink">^ <a href="#cite_ref-:1_14-0"><sup><i><b>a</b></i></sup></a> <a href="#cite_ref-:1_14-1"><sup><i><b>b</b></i></sup></a> <a href="#cite_ref-:1_14-2"><sup><i><b>c</b></i></sup></a> <a href="#cite_ref-:1_14-3"><sup><i><b>d</b></i></sup></a></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFThoringtonDarrowAnderson1998" class="citation journal cs1">Thorington, Richard W.; Darrow, Karolyn; Anderson, C. Gregory (1998-02-20). <a rel="nofollow" class="external text" href="https://doi.org/10.2307%2F1382860">"Wing Tip Anatomy and Aerodynamics in Flying Squirrels"</a>. <i>Journal of Mammalogy</i>. <b>79</b> (1): <span class="nowrap">245–</span>250. <a href="/wiki/Doi_(identifier)" class="mw-redirect" title="Doi (identifier)">doi</a>:<span class="id-lock-free" title="Freely accessible"><a rel="nofollow" class="external text" href="https://doi.org/10.2307%2F1382860">10.2307/1382860</a></span>. <a href="/wiki/ISSN_(identifier)" class="mw-redirect" title="ISSN (identifier)">ISSN</a> <a rel="nofollow" class="external text" href="https://search.worldcat.org/issn/0022-2372">0022-2372</a>. <a href="/wiki/JSTOR_(identifier)" class="mw-redirect" title="JSTOR (identifier)">JSTOR</a> <a rel="nofollow" class="external text" href="https://www.jstor.org/stable/1382860">1382860</a>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=Journal+of+Mammalogy&rft.atitle=Wing+Tip+Anatomy+and+Aerodynamics+in+Flying+Squirrels&rft.volume=79&rft.issue=1&rft.pages=%3Cspan+class%3D%22nowrap%22%3E245-%3C%2Fspan%3E250&rft.date=1998-02-20&rft.issn=0022-2372&rft_id=https%3A%2F%2Fwww.jstor.org%2Fstable%2F1382860%23id-name%3DJSTOR&rft_id=info%3Adoi%2F10.2307%2F1382860&rft.aulast=Thorington&rft.aufirst=Richard+W.&rft.au=Darrow%2C+Karolyn&rft.au=Anderson%2C+C.+Gregory&rft_id=https%3A%2F%2Fdoi.org%2F10.2307%252F1382860&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span></span> </li> <li id="cite_note-:2-15"><span class="mw-cite-backlink">^ <a href="#cite_ref-:2_15-0"><sup><i><b>a</b></i></sup></a> <a href="#cite_ref-:2_15-1"><sup><i><b>b</b></i></sup></a> <a href="#cite_ref-:2_15-2"><sup><i><b>c</b></i></sup></a> <a href="#cite_ref-:2_15-3"><sup><i><b>d</b></i></sup></a> <a href="#cite_ref-:2_15-4"><sup><i><b>e</b></i></sup></a> <a href="#cite_ref-:2_15-5"><sup><i><b>f</b></i></sup></a> <a href="#cite_ref-:2_15-6"><sup><i><b>g</b></i></sup></a> <a href="#cite_ref-:2_15-7"><sup><i><b>h</b></i></sup></a></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFJohnson-Murray1977" class="citation journal cs1">Johnson-Murray, Jane L. (1977-08-20). <a rel="nofollow" class="external text" href="https://academic.oup.com/jmammal/article/58/3/374/888797">"Myology of the Gliding Membranes of Some Petauristine Rodents (Genera: Glaucomys, pteromys, petinomys, and Petaurista)"</a>. <i>Journal of Mammalogy</i>. <b>58</b> (3): <span class="nowrap">374–</span>384. <a href="/wiki/Doi_(identifier)" class="mw-redirect" title="Doi (identifier)">doi</a>:<a rel="nofollow" class="external text" href="https://doi.org/10.2307%2F1379336">10.2307/1379336</a>. <a href="/wiki/ISSN_(identifier)" class="mw-redirect" title="ISSN (identifier)">ISSN</a> <a rel="nofollow" class="external text" href="https://search.worldcat.org/issn/0022-2372">0022-2372</a>. <a href="/wiki/JSTOR_(identifier)" class="mw-redirect" title="JSTOR (identifier)">JSTOR</a> <a rel="nofollow" class="external text" href="https://www.jstor.org/stable/1379336">1379336</a>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=Journal+of+Mammalogy&rft.atitle=Myology+of+the+Gliding+Membranes+of+Some+Petauristine+Rodents+%28Genera%3A+Glaucomys%2C+pteromys%2C+petinomys%2C+and+Petaurista%29&rft.volume=58&rft.issue=3&rft.pages=%3Cspan+class%3D%22nowrap%22%3E374-%3C%2Fspan%3E384&rft.date=1977-08-20&rft.issn=0022-2372&rft_id=https%3A%2F%2Fwww.jstor.org%2Fstable%2F1379336%23id-name%3DJSTOR&rft_id=info%3Adoi%2F10.2307%2F1379336&rft.aulast=Johnson-Murray&rft.aufirst=Jane+L.&rft_id=https%3A%2F%2Facademic.oup.com%2Fjmammal%2Farticle%2F58%2F3%2F374%2F888797&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span></span> </li> <li id="cite_note-16"><span class="mw-cite-backlink"><b><a href="#cite_ref-16">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFNorberg1985" class="citation journal cs1">Norberg, Ulla M. (1985-09-01). "Evolution of Vertebrate Flight: An Aerodynamic Model for the Transition from Gliding to Active Flight". <i>The American Naturalist</i>. <b>126</b> (3): <span class="nowrap">303–</span>327. <a href="/wiki/Doi_(identifier)" class="mw-redirect" title="Doi (identifier)">doi</a>:<a rel="nofollow" class="external text" href="https://doi.org/10.1086%2F284419">10.1086/284419</a>. <a href="/wiki/ISSN_(identifier)" class="mw-redirect" title="ISSN (identifier)">ISSN</a> <a rel="nofollow" class="external text" href="https://search.worldcat.org/issn/0003-0147">0003-0147</a>. <a href="/wiki/S2CID_(identifier)" class="mw-redirect" title="S2CID (identifier)">S2CID</a> <a rel="nofollow" class="external text" href="https://api.semanticscholar.org/CorpusID:85306259">85306259</a>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=The+American+Naturalist&rft.atitle=Evolution+of+Vertebrate+Flight%3A+An+Aerodynamic+Model+for+the+Transition+from+Gliding+to+Active+Flight&rft.volume=126&rft.issue=3&rft.pages=%3Cspan+class%3D%22nowrap%22%3E303-%3C%2Fspan%3E327&rft.date=1985-09-01&rft_id=https%3A%2F%2Fapi.semanticscholar.org%2FCorpusID%3A85306259%23id-name%3DS2CID&rft.issn=0003-0147&rft_id=info%3Adoi%2F10.1086%2F284419&rft.aulast=Norberg&rft.aufirst=Ulla+M.&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span></span> </li> <li id="cite_note-17"><span class="mw-cite-backlink"><b><a href="#cite_ref-17">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFPaskinsBowyerMegillScheibe2007" class="citation journal cs1">Paskins, Keith E.; Bowyer, Adrian; Megill, William M.; Scheibe, John S. (2007-04-15). <a rel="nofollow" class="external text" href="https://doi.org/10.1242%2Fjeb.02747">"Take-off and landing forces and the evolution of controlled gliding in northern flying squirrels Glaucomys sabrinus"</a>. <i>Journal of Experimental Biology</i>. <b>210</b> (8): <span class="nowrap">1413–</span>1423. <a href="/wiki/Doi_(identifier)" class="mw-redirect" title="Doi (identifier)">doi</a>:<span class="id-lock-free" title="Freely accessible"><a rel="nofollow" class="external text" href="https://doi.org/10.1242%2Fjeb.02747">10.1242/jeb.02747</a></span>. <a href="/wiki/ISSN_(identifier)" class="mw-redirect" title="ISSN (identifier)">ISSN</a> <a rel="nofollow" class="external text" href="https://search.worldcat.org/issn/0022-0949">0022-0949</a>. <a href="/wiki/PMID_(identifier)" class="mw-redirect" title="PMID (identifier)">PMID</a> <a rel="nofollow" class="external text" href="https://pubmed.ncbi.nlm.nih.gov/17401124">17401124</a>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=Journal+of+Experimental+Biology&rft.atitle=Take-off+and+landing+forces+and+the+evolution+of+controlled+gliding+in+northern+flying+squirrels+Glaucomys+sabrinus&rft.volume=210&rft.issue=8&rft.pages=%3Cspan+class%3D%22nowrap%22%3E1413-%3C%2Fspan%3E1423&rft.date=2007-04-15&rft.issn=0022-0949&rft_id=info%3Apmid%2F17401124&rft_id=info%3Adoi%2F10.1242%2Fjeb.02747&rft.aulast=Paskins&rft.aufirst=Keith+E.&rft.au=Bowyer%2C+Adrian&rft.au=Megill%2C+William+M.&rft.au=Scheibe%2C+John+S.&rft_id=https%3A%2F%2Fdoi.org%2F10.1242%252Fjeb.02747&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span></span> </li> <li id="cite_note-:3-18"><span class="mw-cite-backlink">^ <a href="#cite_ref-:3_18-0"><sup><i><b>a</b></i></sup></a> <a href="#cite_ref-:3_18-1"><sup><i><b>b</b></i></sup></a></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFBishop2006" class="citation journal cs1">Bishop, Kristin L. (2006-02-15). <a rel="nofollow" class="external text" href="https://doi.org/10.1242%2Fjeb.02062">"The relationship between 3-D kinematics and gliding performance in the southern flying squirrel, Glaucomys volans"</a>. <i>Journal of Experimental Biology</i>. <b>209</b> (4): <span class="nowrap">689–</span>701. <a href="/wiki/Doi_(identifier)" class="mw-redirect" title="Doi (identifier)">doi</a>:<span class="id-lock-free" title="Freely accessible"><a rel="nofollow" class="external text" href="https://doi.org/10.1242%2Fjeb.02062">10.1242/jeb.02062</a></span>. <a href="/wiki/ISSN_(identifier)" class="mw-redirect" title="ISSN (identifier)">ISSN</a> <a rel="nofollow" class="external text" href="https://search.worldcat.org/issn/0022-0949">0022-0949</a>. <a href="/wiki/PMID_(identifier)" class="mw-redirect" title="PMID (identifier)">PMID</a> <a rel="nofollow" class="external text" href="https://pubmed.ncbi.nlm.nih.gov/16449563">16449563</a>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=Journal+of+Experimental+Biology&rft.atitle=The+relationship+between+3-D+kinematics+and+gliding+performance+in+the+southern+flying+squirrel%2C+Glaucomys+volans&rft.volume=209&rft.issue=4&rft.pages=%3Cspan+class%3D%22nowrap%22%3E689-%3C%2Fspan%3E701&rft.date=2006-02-15&rft.issn=0022-0949&rft_id=info%3Apmid%2F16449563&rft_id=info%3Adoi%2F10.1242%2Fjeb.02062&rft.aulast=Bishop&rft.aufirst=Kristin+L.&rft_id=https%3A%2F%2Fdoi.org%2F10.1242%252Fjeb.02062&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span></span> </li> <li id="cite_note-:4-19"><span class="mw-cite-backlink">^ <a href="#cite_ref-:4_19-0"><sup><i><b>a</b></i></sup></a> <a href="#cite_ref-:4_19-1"><sup><i><b>b</b></i></sup></a></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFBishop2007" class="citation journal cs1">Bishop, Kristin L. (2007-08-01). <a rel="nofollow" class="external text" href="https://doi.org/10.1242%2Fjeb.002071">"Aerodynamic force generation, performance and control of body orientation during gliding in sugar gliders (Petaurus breviceps)"</a>. <i>Journal of Experimental Biology</i>. <b>210</b> (15): <span class="nowrap">2593–</span>2606. <a href="/wiki/Doi_(identifier)" class="mw-redirect" title="Doi (identifier)">doi</a>:<span class="id-lock-free" title="Freely accessible"><a rel="nofollow" class="external text" href="https://doi.org/10.1242%2Fjeb.002071">10.1242/jeb.002071</a></span>. <a href="/wiki/ISSN_(identifier)" class="mw-redirect" title="ISSN (identifier)">ISSN</a> <a rel="nofollow" class="external text" href="https://search.worldcat.org/issn/0022-0949">0022-0949</a>. <a href="/wiki/PMID_(identifier)" class="mw-redirect" title="PMID (identifier)">PMID</a> <a rel="nofollow" class="external text" href="https://pubmed.ncbi.nlm.nih.gov/17644674">17644674</a>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=Journal+of+Experimental+Biology&rft.atitle=Aerodynamic+force+generation%2C+performance+and+control+of+body+orientation+during+gliding+in+sugar+gliders+%28Petaurus+breviceps%29&rft.volume=210&rft.issue=15&rft.pages=%3Cspan+class%3D%22nowrap%22%3E2593-%3C%2Fspan%3E2606&rft.date=2007-08-01&rft.issn=0022-0949&rft_id=info%3Apmid%2F17644674&rft_id=info%3Adoi%2F10.1242%2Fjeb.002071&rft.aulast=Bishop&rft.aufirst=Kristin+L.&rft_id=https%3A%2F%2Fdoi.org%2F10.1242%252Fjeb.002071&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span></span> </li> <li id="cite_note-:5-20"><span class="mw-cite-backlink">^ <a href="#cite_ref-:5_20-0"><sup><i><b>a</b></i></sup></a> <a href="#cite_ref-:5_20-1"><sup><i><b>b</b></i></sup></a> <a href="#cite_ref-:5_20-2"><sup><i><b>c</b></i></sup></a> <a href="#cite_ref-:5_20-3"><sup><i><b>d</b></i></sup></a> <a href="#cite_ref-:5_20-4"><sup><i><b>e</b></i></sup></a> <a href="#cite_ref-:5_20-5"><sup><i><b>f</b></i></sup></a> <a href="#cite_ref-:5_20-6"><sup><i><b>g</b></i></sup></a> <a href="#cite_ref-:5_20-7"><sup><i><b>h</b></i></sup></a> <a href="#cite_ref-:5_20-8"><sup><i><b>i</b></i></sup></a> <a href="#cite_ref-:5_20-9"><sup><i><b>j</b></i></sup></a> <a href="#cite_ref-:5_20-10"><sup><i><b>k</b></i></sup></a> <a href="#cite_ref-:5_20-11"><sup><i><b>l</b></i></sup></a> <a href="#cite_ref-:5_20-12"><sup><i><b>m</b></i></sup></a></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFWoodwardSitti2014" class="citation journal cs1">Woodward, Matthew A.; Sitti, Metin (2014-09-04). "MultiMo-Bat: A biologically inspired integrated jumping–gliding robot". <i>The International Journal of Robotics Research</i>. <b>33</b> (12): <span class="nowrap">1511–</span>1529. <a href="/wiki/Doi_(identifier)" class="mw-redirect" title="Doi (identifier)">doi</a>:<a rel="nofollow" class="external text" href="https://doi.org/10.1177%2F0278364914541301">10.1177/0278364914541301</a>. <a href="/wiki/ISSN_(identifier)" class="mw-redirect" title="ISSN (identifier)">ISSN</a> <a rel="nofollow" class="external text" href="https://search.worldcat.org/issn/0278-3649">0278-3649</a>. <a href="/wiki/S2CID_(identifier)" class="mw-redirect" title="S2CID (identifier)">S2CID</a> <a rel="nofollow" class="external text" href="https://api.semanticscholar.org/CorpusID:206500583">206500583</a>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=The+International+Journal+of+Robotics+Research&rft.atitle=MultiMo-Bat%3A+A+biologically+inspired+integrated+jumping%E2%80%93gliding+robot&rft.volume=33&rft.issue=12&rft.pages=%3Cspan+class%3D%22nowrap%22%3E1511-%3C%2Fspan%3E1529&rft.date=2014-09-04&rft_id=https%3A%2F%2Fapi.semanticscholar.org%2FCorpusID%3A206500583%23id-name%3DS2CID&rft.issn=0278-3649&rft_id=info%3Adoi%2F10.1177%2F0278364914541301&rft.aulast=Woodward&rft.aufirst=Matthew+A.&rft.au=Sitti%2C+Metin&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span></span> </li> <li id="cite_note-21"><span class="mw-cite-backlink"><b><a href="#cite_ref-21">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFRillichStevensonPflueger2013" class="citation journal cs1">Rillich, Jan; Stevenson, Paul A.; Pflueger, Hans-Joachim (2013-05-09). <a rel="nofollow" class="external text" href="https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3650027">"Flight and Walking in Locusts–Cholinergic Co-Activation, Temporal Coupling and Its Modulation by Biogenic Amines"</a>. <i>PLOS ONE</i>. <b>8</b> (5): e62899. <a href="/wiki/Bibcode_(identifier)" class="mw-redirect" title="Bibcode (identifier)">Bibcode</a>:<a rel="nofollow" class="external text" href="https://ui.adsabs.harvard.edu/abs/2013PLoSO...862899R">2013PLoSO...862899R</a>. <a href="/wiki/Doi_(identifier)" class="mw-redirect" title="Doi (identifier)">doi</a>:<span class="id-lock-free" title="Freely accessible"><a rel="nofollow" class="external text" href="https://doi.org/10.1371%2Fjournal.pone.0062899">10.1371/journal.pone.0062899</a></span>. <a href="/wiki/ISSN_(identifier)" class="mw-redirect" title="ISSN (identifier)">ISSN</a> <a rel="nofollow" class="external text" href="https://search.worldcat.org/issn/1932-6203">1932-6203</a>. <a href="/wiki/PMC_(identifier)" class="mw-redirect" title="PMC (identifier)">PMC</a> <span class="id-lock-free" title="Freely accessible"><a rel="nofollow" class="external text" href="https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3650027">3650027</a></span>. <a href="/wiki/PMID_(identifier)" class="mw-redirect" title="PMID (identifier)">PMID</a> <a rel="nofollow" class="external text" href="https://pubmed.ncbi.nlm.nih.gov/23671643">23671643</a>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=PLOS+ONE&rft.atitle=Flight+and+Walking+in+Locusts%E2%80%93Cholinergic+Co-Activation%2C+Temporal+Coupling+and+Its+Modulation+by+Biogenic+Amines&rft.volume=8&rft.issue=5&rft.pages=e62899&rft.date=2013-05-09&rft_id=https%3A%2F%2Fwww.ncbi.nlm.nih.gov%2Fpmc%2Farticles%2FPMC3650027%23id-name%3DPMC&rft_id=info%3Abibcode%2F2013PLoSO...862899R&rft_id=info%3Apmid%2F23671643&rft_id=info%3Adoi%2F10.1371%2Fjournal.pone.0062899&rft.issn=1932-6203&rft.aulast=Rillich&rft.aufirst=Jan&rft.au=Stevenson%2C+Paul+A.&rft.au=Pflueger%2C+Hans-Joachim&rft_id=https%3A%2F%2Fwww.ncbi.nlm.nih.gov%2Fpmc%2Farticles%2FPMC3650027&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span></span> </li> <li id="cite_note-:6-22"><span class="mw-cite-backlink">^ <a href="#cite_ref-:6_22-0"><sup><i><b>a</b></i></sup></a> <a href="#cite_ref-:6_22-1"><sup><i><b>b</b></i></sup></a></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://www.st-andrews.ac.uk/~wjh/jumping/index.html">"How Grasshoppers Jump"</a>. <i>www.st-andrews.ac.uk</i><span class="reference-accessdate">. Retrieved <span class="nowrap">2019-11-04</span></span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=unknown&rft.jtitle=www.st-andrews.ac.uk&rft.atitle=How+Grasshoppers+Jump&rft_id=https%3A%2F%2Fwww.st-andrews.ac.uk%2F~wjh%2Fjumping%2Findex.html&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span></span> </li> <li id="cite_note-:7-23"><span class="mw-cite-backlink">^ <a href="#cite_ref-:7_23-0"><sup><i><b>a</b></i></sup></a> <a href="#cite_ref-:7_23-1"><sup><i><b>b</b></i></sup></a></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFTruongPhanPark2019" class="citation journal cs1">Truong, Ngoc Thien; Phan, Hoang Vu; Park, Hoon Cheol (2019-03-13). "Design and demonstration of a bio-inspired flapping-wing-assisted jumping robot". <i>Bioinspiration & Biomimetics</i>. <b>14</b> (3): 036010. <a href="/wiki/Bibcode_(identifier)" class="mw-redirect" title="Bibcode (identifier)">Bibcode</a>:<a rel="nofollow" class="external text" href="https://ui.adsabs.harvard.edu/abs/2019BiBi...14c6010T">2019BiBi...14c6010T</a>. <a href="/wiki/Doi_(identifier)" class="mw-redirect" title="Doi (identifier)">doi</a>:<a rel="nofollow" class="external text" href="https://doi.org/10.1088%2F1748-3190%2Faafff5">10.1088/1748-3190/aafff5</a>. <a href="/wiki/ISSN_(identifier)" class="mw-redirect" title="ISSN (identifier)">ISSN</a> <a rel="nofollow" class="external text" href="https://search.worldcat.org/issn/1748-3190">1748-3190</a>. <a href="/wiki/PMID_(identifier)" class="mw-redirect" title="PMID (identifier)">PMID</a> <a rel="nofollow" class="external text" href="https://pubmed.ncbi.nlm.nih.gov/30658344">30658344</a>. <a href="/wiki/S2CID_(identifier)" class="mw-redirect" title="S2CID (identifier)">S2CID</a> <a rel="nofollow" class="external text" href="https://api.semanticscholar.org/CorpusID:58665597">58665597</a>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=Bioinspiration+%26+Biomimetics&rft.atitle=Design+and+demonstration+of+a+bio-inspired+flapping-wing-assisted+jumping+robot&rft.volume=14&rft.issue=3&rft.pages=036010&rft.date=2019-03-13&rft_id=https%3A%2F%2Fapi.semanticscholar.org%2FCorpusID%3A58665597%23id-name%3DS2CID&rft_id=info%3Abibcode%2F2019BiBi...14c6010T&rft.issn=1748-3190&rft_id=info%3Adoi%2F10.1088%2F1748-3190%2Faafff5&rft_id=info%3Apmid%2F30658344&rft.aulast=Truong&rft.aufirst=Ngoc+Thien&rft.au=Phan%2C+Hoang+Vu&rft.au=Park%2C+Hoon+Cheol&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span></span> </li> <li id="cite_note-24"><span class="mw-cite-backlink"><b><a href="#cite_ref-24">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFBurrows1995" class="citation journal cs1">Burrows, M. (1995-05-01). "Motor patterns during kicking movements in the locust". <i>Journal of Comparative Physiology A</i>. <b>176</b> (3): <span class="nowrap">289–</span>305. <a href="/wiki/Doi_(identifier)" class="mw-redirect" title="Doi (identifier)">doi</a>:<a rel="nofollow" class="external text" href="https://doi.org/10.1007%2FBF00219055">10.1007/BF00219055</a>. <a href="/wiki/ISSN_(identifier)" class="mw-redirect" title="ISSN (identifier)">ISSN</a> <a rel="nofollow" class="external text" href="https://search.worldcat.org/issn/1432-1351">1432-1351</a>. <a href="/wiki/PMID_(identifier)" class="mw-redirect" title="PMID (identifier)">PMID</a> <a rel="nofollow" class="external text" href="https://pubmed.ncbi.nlm.nih.gov/7707268">7707268</a>. <a href="/wiki/S2CID_(identifier)" class="mw-redirect" title="S2CID (identifier)">S2CID</a> <a rel="nofollow" class="external text" href="https://api.semanticscholar.org/CorpusID:21759140">21759140</a>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=Journal+of+Comparative+Physiology+A&rft.atitle=Motor+patterns+during+kicking+movements+in+the+locust&rft.volume=176&rft.issue=3&rft.pages=%3Cspan+class%3D%22nowrap%22%3E289-%3C%2Fspan%3E305&rft.date=1995-05-01&rft.issn=1432-1351&rft_id=https%3A%2F%2Fapi.semanticscholar.org%2FCorpusID%3A21759140%23id-name%3DS2CID&rft_id=info%3Apmid%2F7707268&rft_id=info%3Adoi%2F10.1007%2FBF00219055&rft.aulast=Burrows&rft.aufirst=M.&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span></span> </li> <li id="cite_note-25"><span class="mw-cite-backlink"><b><a href="#cite_ref-25">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFBurrowsSutton2012" class="citation journal cs1">Burrows, Malcolm; Sutton, Gregory P. (2012-10-01). <a rel="nofollow" class="external text" href="https://doi.org/10.1242%2Fjeb.071993">"Locusts use a composite of resilin and hard cuticle as an energy store for jumping and kicking"</a>. <i>Journal of Experimental Biology</i>. <b>215</b> (19): <span class="nowrap">3501–</span>3512. <a href="/wiki/Doi_(identifier)" class="mw-redirect" title="Doi (identifier)">doi</a>:<span class="id-lock-free" title="Freely accessible"><a rel="nofollow" class="external text" href="https://doi.org/10.1242%2Fjeb.071993">10.1242/jeb.071993</a></span>. <a href="/wiki/ISSN_(identifier)" class="mw-redirect" title="ISSN (identifier)">ISSN</a> <a rel="nofollow" class="external text" href="https://search.worldcat.org/issn/0022-0949">0022-0949</a>. <a href="/wiki/PMID_(identifier)" class="mw-redirect" title="PMID (identifier)">PMID</a> <a rel="nofollow" class="external text" href="https://pubmed.ncbi.nlm.nih.gov/22693029">22693029</a>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.jtitle=Journal+of+Experimental+Biology&rft.atitle=Locusts+use+a+composite+of+resilin+and+hard+cuticle+as+an+energy+store+for+jumping+and+kicking&rft.volume=215&rft.issue=19&rft.pages=%3Cspan+class%3D%22nowrap%22%3E3501-%3C%2Fspan%3E3512&rft.date=2012-10-01&rft.issn=0022-0949&rft_id=info%3Apmid%2F22693029&rft_id=info%3Adoi%2F10.1242%2Fjeb.071993&rft.aulast=Burrows&rft.aufirst=Malcolm&rft.au=Sutton%2C+Gregory+P.&rft_id=https%3A%2F%2Fdoi.org%2F10.1242%252Fjeb.071993&rfr_id=info%3Asid%2Fen.wikipedia.org%3ARobot+locomotion" class="Z3988"></span></span> </li> <li id="cite_note-26"><span class="mw-cite-backlink"><b><a href="#cite_ref-26">^</a></b></span> <span class="reference-text">Kajita, Shuuji, et al. <i>Biped walking pattern generation by using preview control of zero-moment point.</i> Proceedings of the IEEE International Conference on Robotics and Automation. Volume 2. IEEE, 2003. <link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><a href="/wiki/ISSN_(identifier)" class="mw-redirect" title="ISSN (identifier)">ISSN</a> <a rel="nofollow" class="external text" href="https://www.worldcat.org/search?fq=x0:jrnl&q=n2:1050-4729">1050-4729</a>. <link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><a href="/wiki/Doi_(identifier)" class="mw-redirect" title="Doi (identifier)">doi</a>:<a rel="nofollow" class="external text" href="https://doi.org/10.1109%2FROBOT.2003.1241826">10.1109/ROBOT.2003.1241826</a>.</span> </li> </ol></div></div> <div class="mw-heading mw-heading2"><h2 id="External_links">External links</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Robot_locomotion&action=edit&section=17" title="Edit section: External links"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <style data-mw-deduplicate="TemplateStyles:r1235681985">.mw-parser-output .side-box{margin:4px 0;box-sizing:border-box;border:1px solid #aaa;font-size:88%;line-height:1.25em;background-color:var(--background-color-interactive-subtle,#f8f9fa);display:flow-root}.mw-parser-output .side-box-abovebelow,.mw-parser-output .side-box-text{padding:0.25em 0.9em}.mw-parser-output .side-box-image{padding:2px 0 2px 0.9em;text-align:center}.mw-parser-output .side-box-imageright{padding:2px 0.9em 2px 0;text-align:center}@media(min-width:500px){.mw-parser-output .side-box-flex{display:flex;align-items:center}.mw-parser-output .side-box-text{flex:1;min-width:0}}@media(min-width:720px){.mw-parser-output .side-box{width:238px}.mw-parser-output .side-box-right{clear:right;float:right;margin-left:1em}.mw-parser-output .side-box-left{margin-right:1em}}</style><style data-mw-deduplicate="TemplateStyles:r1237033735">@media print{body.ns-0 .mw-parser-output .sistersitebox{display:none!important}}@media screen{html.skin-theme-clientpref-night .mw-parser-output .sistersitebox img[src*="Wiktionary-logo-en-v2.svg"]{background-color:white}}@media screen and (prefers-color-scheme:dark){html.skin-theme-clientpref-os .mw-parser-output .sistersitebox img[src*="Wiktionary-logo-en-v2.svg"]{background-color:white}}</style><div class="side-box side-box-right plainlinks sistersitebox"><style data-mw-deduplicate="TemplateStyles:r1126788409">.mw-parser-output .plainlist ol,.mw-parser-output .plainlist ul{line-height:inherit;list-style:none;margin:0;padding:0}.mw-parser-output .plainlist ol li,.mw-parser-output .plainlist ul li{margin-bottom:0}</style> <div class="side-box-flex"> <div class="side-box-image"><span class="noviewer" typeof="mw:File"><a href="/wiki/File:Wiktionary-logo-en-v2.svg" class="mw-file-description"><img alt="" src="//upload.wikimedia.org/wikipedia/commons/thumb/9/99/Wiktionary-logo-en-v2.svg/40px-Wiktionary-logo-en-v2.svg.png" decoding="async" width="40" height="40" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/9/99/Wiktionary-logo-en-v2.svg/60px-Wiktionary-logo-en-v2.svg.png 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/9/99/Wiktionary-logo-en-v2.svg/80px-Wiktionary-logo-en-v2.svg.png 2x" data-file-width="512" data-file-height="512" /></a></span></div> <div class="side-box-text plainlist">Look up <i><b><a href="https://en.wiktionary.org/wiki/Special:Search/robot_locomotion" class="extiw" title="wiktionary:Special:Search/robot locomotion">robot locomotion</a></b></i> in Wiktionary, the free dictionary.</div></div> </div> <ul><li><a rel="nofollow" class="external text" href="http://www.robotplatform.com/knowledge/Classification_of_Robots/Holonomic_and_Non-Holonomic_drive.html">Robot Locomotion</a></li></ul>    </div><noscript><img src="https://login.wikimedia.org/wiki/Special:CentralAutoLogin/start?useformat=desktop&type=1x1&usesul3=0" alt="" width="1" height="1" style="border: none; position: absolute;"></noscript> <div class="printfooter" data-nosnippet="">Retrieved from "<a dir="ltr" href="https://en.wikipedia.org/w/index.php?title=Robot_locomotion&oldid=1275712398">https://en.wikipedia.org/w/index.php?title=Robot_locomotion&oldid=1275712398</a>"</div></div> <div id="catlinks" class="catlinks" data-mw="interface"><div id="mw-normal-catlinks" class="mw-normal-catlinks"><a href="/wiki/Help:Category" title="Help:Category">Categories</a>: <ul><li><a href="/wiki/Category:Robot_locomotion" title="Category:Robot locomotion">Robot locomotion</a></li><li><a href="/wiki/Category:Robot_control" title="Category:Robot control">Robot control</a></li></ul></div><div id="mw-hidden-catlinks" class="mw-hidden-catlinks mw-hidden-cats-hidden">Hidden categories: <ul><li><a href="/wiki/Category:CS1_maint:_multiple_names:_authors_list" title="Category:CS1 maint: multiple names: authors list">CS1 maint: multiple names: authors list</a></li><li><a href="/wiki/Category:Webarchive_template_wayback_links" title="Category:Webarchive template wayback links">Webarchive template wayback links</a></li><li><a href="/wiki/Category:Articles_with_short_description" title="Category:Articles with short description">Articles with short description</a></li><li><a href="/wiki/Category:Short_description_is_different_from_Wikidata" title="Category:Short description is different from Wikidata">Short description is different from Wikidata</a></li><li><a href="/wiki/Category:All_articles_with_minor_POV_problems" title="Category:All articles with minor POV problems">All articles with minor POV problems</a></li><li><a href="/wiki/Category:Articles_with_minor_POV_problems_from_July_2021" title="Category:Articles with minor POV problems from July 2021">Articles with minor POV problems from July 2021</a></li></ul></div></div> </div> </main> </div> <div class="mw-footer-container"> <footer id="footer" class="mw-footer" > <ul id="footer-info"> <li id="footer-info-lastmod"> This page was last edited on 14 February 2025, at 16:45<span class="anonymous-show"> (UTC)</span>.</li> <li id="footer-info-copyright">Text is available under the <a href="/wiki/Wikipedia:Text_of_the_Creative_Commons_Attribution-ShareAlike_4.0_International_License" title="Wikipedia:Text of the Creative Commons Attribution-ShareAlike 4.0 International License">Creative Commons Attribution-ShareAlike 4.0 License</a>; additional terms may apply. By using this site, you agree to the <a href="https://foundation.wikimedia.org/wiki/Special:MyLanguage/Policy:Terms_of_Use" class="extiw" title="foundation:Special:MyLanguage/Policy:Terms of Use">Terms of Use</a> and <a href="https://foundation.wikimedia.org/wiki/Special:MyLanguage/Policy:Privacy_policy" class="extiw" title="foundation:Special:MyLanguage/Policy:Privacy policy">Privacy Policy</a>. Wikipedia® is a registered trademark of the <a rel="nofollow" class="external text" href="https://wikimediafoundation.org/">Wikimedia Foundation, Inc.</a>, a non-profit organization.</li> </ul> <ul id="footer-places"> <li id="footer-places-privacy"><a href="https://foundation.wikimedia.org/wiki/Special:MyLanguage/Policy:Privacy_policy">Privacy policy</a></li> <li id="footer-places-about"><a href="/wiki/Wikipedia:About">About Wikipedia</a></li> <li id="footer-places-disclaimers"><a href="/wiki/Wikipedia:General_disclaimer">Disclaimers</a></li> <li id="footer-places-contact"><a href="//en.wikipedia.org/wiki/Wikipedia:Contact_us">Contact Wikipedia</a></li> <li id="footer-places-wm-codeofconduct"><a href="https://foundation.wikimedia.org/wiki/Special:MyLanguage/Policy:Universal_Code_of_Conduct">Code of Conduct</a></li> <li id="footer-places-developers"><a href="https://developer.wikimedia.org">Developers</a></li> <li id="footer-places-statslink"><a href="https://stats.wikimedia.org/#/en.wikipedia.org">Statistics</a></li> <li id="footer-places-cookiestatement"><a href="https://foundation.wikimedia.org/wiki/Special:MyLanguage/Policy:Cookie_statement">Cookie statement</a></li> <li id="footer-places-mobileview"><a href="//en.m.wikipedia.org/w/index.php?title=Robot_locomotion&mobileaction=toggle_view_mobile" class="noprint stopMobileRedirectToggle">Mobile view</a></li> </ul> <ul id="footer-icons" class="noprint"> <li id="footer-copyrightico"><a href="https://wikimediafoundation.org/" class="cdx-button cdx-button--fake-button cdx-button--size-large cdx-button--fake-button--enabled"><picture><source media="(min-width: 500px)" srcset="/static/images/footer/wikimedia-button.svg" width="84" height="29"><img src="/static/images/footer/wikimedia.svg" width="25" height="25" alt="Wikimedia Foundation" lang="en" loading="lazy"></picture></a></li> <li id="footer-poweredbyico"><a href="https://www.mediawiki.org/" class="cdx-button cdx-button--fake-button cdx-button--size-large cdx-button--fake-button--enabled"><picture><source media="(min-width: 500px)" srcset="/w/resources/assets/poweredby_mediawiki.svg" width="88" height="31"><img src="/w/resources/assets/mediawiki_compact.svg" alt="Powered by MediaWiki" width="25" height="25" loading="lazy"></picture></a></li> </ul> </footer> </div> </div> </div> <div class="vector-header-container vector-sticky-header-container"> <div id="vector-sticky-header" class="vector-sticky-header"> <div class="vector-sticky-header-start"> <div class="vector-sticky-header-icon-start vector-button-flush-left vector-button-flush-right" aria-hidden="true"> <button class="cdx-button cdx-button--weight-quiet cdx-button--icon-only vector-sticky-header-search-toggle" tabindex="-1" data-event-name="ui.vector-sticky-search-form.icon"><span class="vector-icon mw-ui-icon-search mw-ui-icon-wikimedia-search"></span> <span>Search</span> </button> </div> <div role="search" class="vector-search-box-vue vector-search-box-show-thumbnail vector-search-box"> <div class="vector-typeahead-search-container"> <div class="cdx-typeahead-search cdx-typeahead-search--show-thumbnail"> <form action="/w/index.php" id="vector-sticky-search-form" class="cdx-search-input cdx-search-input--has-end-button"> <div class="cdx-search-input__input-wrapper" data-search-loc="header-moved"> <div class="cdx-text-input cdx-text-input--has-start-icon"> <input class="cdx-text-input__input" type="search" name="search" placeholder="Search Wikipedia"> <span class="cdx-text-input__icon cdx-text-input__start-icon"></span> </div> <input type="hidden" name="title" value="Special:Search"> </div> <button class="cdx-button cdx-search-input__end-button">Search</button> </form> </div> </div> </div> <div class="vector-sticky-header-context-bar"> <nav aria-label="Contents" class="vector-toc-landmark"> <div id="vector-sticky-header-toc" class="vector-dropdown mw-portlet mw-portlet-sticky-header-toc vector-sticky-header-toc vector-button-flush-left" > <input type="checkbox" id="vector-sticky-header-toc-checkbox" role="button" aria-haspopup="true" data-event-name="ui.dropdown-vector-sticky-header-toc" class="vector-dropdown-checkbox " aria-label="Toggle the table of contents" > <label id="vector-sticky-header-toc-label" for="vector-sticky-header-toc-checkbox" class="vector-dropdown-label cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--icon-only " aria-hidden="true" ><span class="vector-icon mw-ui-icon-listBullet mw-ui-icon-wikimedia-listBullet"></span> <span class="vector-dropdown-label-text">Toggle the table of contents</span> </label> <div class="vector-dropdown-content"> <div id="vector-sticky-header-toc-unpinned-container" class="vector-unpinned-container"> </div> </div> </div> </nav> <div class="vector-sticky-header-context-bar-primary" aria-hidden="true" ><span class="mw-page-title-main">Robot locomotion</span></div> </div> </div> <div class="vector-sticky-header-end" aria-hidden="true"> <div class="vector-sticky-header-icons"> <a href="#" class="cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--icon-only" id="ca-talk-sticky-header" tabindex="-1" data-event-name="talk-sticky-header"><span class="vector-icon mw-ui-icon-speechBubbles mw-ui-icon-wikimedia-speechBubbles"></span> <span></span> </a> <a href="#" class="cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--icon-only" id="ca-subject-sticky-header" tabindex="-1" data-event-name="subject-sticky-header"><span class="vector-icon mw-ui-icon-article mw-ui-icon-wikimedia-article"></span> <span></span> </a> <a href="#" class="cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--icon-only" id="ca-history-sticky-header" tabindex="-1" data-event-name="history-sticky-header"><span class="vector-icon mw-ui-icon-wikimedia-history mw-ui-icon-wikimedia-wikimedia-history"></span> <span></span> </a> <a href="#" class="cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--icon-only mw-watchlink" id="ca-watchstar-sticky-header" tabindex="-1" data-event-name="watch-sticky-header"><span class="vector-icon mw-ui-icon-wikimedia-star mw-ui-icon-wikimedia-wikimedia-star"></span> <span></span> </a> <a href="#" class="cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--icon-only" id="ca-edit-sticky-header" tabindex="-1" data-event-name="wikitext-edit-sticky-header"><span class="vector-icon mw-ui-icon-wikimedia-wikiText mw-ui-icon-wikimedia-wikimedia-wikiText"></span> <span></span> </a> <a href="#" class="cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--icon-only" id="ca-ve-edit-sticky-header" tabindex="-1" data-event-name="ve-edit-sticky-header"><span class="vector-icon mw-ui-icon-wikimedia-edit mw-ui-icon-wikimedia-wikimedia-edit"></span> <span></span> </a> <a href="#" class="cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--icon-only" id="ca-viewsource-sticky-header" tabindex="-1" data-event-name="ve-edit-protected-sticky-header"><span class="vector-icon mw-ui-icon-wikimedia-editLock mw-ui-icon-wikimedia-wikimedia-editLock"></span> <span></span> </a> </div> <div class="vector-sticky-header-buttons"> <button class="cdx-button cdx-button--weight-quiet mw-interlanguage-selector" id="p-lang-btn-sticky-header" tabindex="-1" data-event-name="ui.dropdown-p-lang-btn-sticky-header"><span class="vector-icon mw-ui-icon-wikimedia-language mw-ui-icon-wikimedia-wikimedia-language"></span> <span>2 languages</span> </button> <a href="#" class="cdx-button cdx-button--fake-button cdx-button--fake-button--enabled cdx-button--weight-quiet cdx-button--action-progressive" id="ca-addsection-sticky-header" tabindex="-1" data-event-name="addsection-sticky-header"><span class="vector-icon mw-ui-icon-speechBubbleAdd-progressive mw-ui-icon-wikimedia-speechBubbleAdd-progressive"></span> <span>Add topic</span> </a> </div> <div class="vector-sticky-header-icon-end"> <div class="vector-user-links"> </div> </div> </div> </div> </div> <div class="vector-settings" id="p-dock-bottom"> <ul></ul> </div><script>(RLQ=window.RLQ||[]).push(function(){mw.config.set({"wgHostname":"mw-web.codfw.main-d8647bfd6-bxxhj","wgBackendResponseTime":110,"wgPageParseReport":{"limitreport":{"cputime":"0.332","walltime":"0.462","ppvisitednodes":{"value":2291,"limit":1000000},"postexpandincludesize":{"value":60064,"limit":2097152},"templateargumentsize":{"value":1853,"limit":2097152},"expansiondepth":{"value":16,"limit":100},"expensivefunctioncount":{"value":3,"limit":500},"unstrip-depth":{"value":1,"limit":20},"unstrip-size":{"value":104829,"limit":5000000},"entityaccesscount":{"value":0,"limit":400},"timingprofile":["100.00% 398.998 1 -total"," 56.04% 223.610 1 Template:Reflist"," 20.46% 81.617 1 Template:Short_description"," 17.25% 68.839 1 Template:Cite_thesis"," 14.83% 59.178 14 Template:Cite_journal"," 10.56% 42.136 2 Template:Pagetype"," 8.45% 33.733 1 Template:Editorializing"," 7.32% 29.203 1 Template:Fix"," 7.28% 29.051 4 Template:Main_other"," 6.87% 27.422 8 Template:Cite_web"]},"scribunto":{"limitreport-timeusage":{"value":"0.183","limit":"10.000"},"limitreport-memusage":{"value":6171928,"limit":52428800}},"cachereport":{"origin":"mw-web.eqiad.canary-78f6b5799d-mv794","timestamp":"20250219123247","ttl":2592000,"transientcontent":false}}});});</script> <script type="application/ld+json">{"@context":"https:\/\/schema.org","@type":"Article","name":"Robot locomotion","url":"https:\/\/en.wikipedia.org\/wiki\/Robot_locomotion","sameAs":"http:\/\/www.wikidata.org\/entity\/Q7353391","mainEntity":"http:\/\/www.wikidata.org\/entity\/Q7353391","author":{"@type":"Organization","name":"Contributors to Wikimedia projects"},"publisher":{"@type":"Organization","name":"Wikimedia Foundation, Inc.","logo":{"@type":"ImageObject","url":"https:\/\/www.wikimedia.org\/static\/images\/wmf-hor-googpub.png"}},"datePublished":"2004-11-14T03:15:51Z","dateModified":"2025-02-14T16:45:09Z","headline":"collective name for the various methods that robots use to transport themselves from place to place"}</script> </body> </html>