The research methodology John Schmitt and his collaborators use is an iterative process that utilizes animal experiments and reduced-order locomotion models to inform robotic design. The models aid the development and testing of high-level control strategies that can produce robust and efficient locomotion. Comparison of the animal dynamics to both the reduced-order model and robotic dynamics can test our understanding of the underlying principles that animals employ to achieve their remarkable locomotion performance.

Credit: Robert Full, University of California, Berkeley, and Jonathan Clark, Florida State University

Illustration of the reduced-order, lateral-plane model utilized for investigating locomotion performance on inclines. The cockroach is modeled by a point mass and the forces produced by the tripod of legs of the cockroach are modeled with a single, actuated linear spring.

Credit: John Schmitt, Oregon State University

Oregon State University engineer John Schmitt.

Credit: John Schmitt, Oregon State University