Simple mathematical models or ‘templates’ of locomotion have been effective tools in understanding how animals move and have inspired and guided the design of robots that emulate those behaviors. This paper describes a ...

This paper reviews a template for dynamical climbing originating in biology, explores its stability properties in a numerical model, and presents emperical data from a physical prototype as evidence of the feasibility of ...

The RiSE robot is a biologically inspired, six legged climbing robot, designed for general mobility in scansorial (vertical walls, horizontal ledges, ground level) environments. It exhibits ground reaction forces that are ...