COMPLIANT BACKBONES IN MOBILE ROBOTS

Mobile robots with body flexibility may exhibit improved performance in speed and agility, especially in maneuvering around obstacles or conforming to small spaces. Body flexibility can also lead to a more natural gait. Two compliant-bodied platforms are being explored. "Cheeter" has been constructed as a hopping robot with a flexible spine. "Caterpillar Whegs" is a wheel-legged robot designed with flexible connections between multiple rigid segments, which may be manipulated to control turning and flexion/extension.