Experimental Validation of a Template for Navigation of Miniature Legged Robots.

This paper provides experimental evidence in support of the hypothesis that the Switching Four-bar Mechanism (SFM) model may serve as a template for miniature legged systems in quasi-static operation. The evidence suggests that the SFM captures salient motion behaviors of morphologically distinct centimeter-scale legged robots. Captured behaviors are then used for planning and control at small scales, thus demonstrating the practical utility of the SFM in navigation tasks.