Bruce D. Miller

Area of research

Clinical Psychology · Physiology

Research interest

Research topics from publications: Gait development on Minitaur, a direct drive quadrupedal robot; Running up a wall: the role and challenges of dynamic climbing in enhancing multi-modal legged systems; Quantifying disturbance rejection of SLIP-like running systems; Evidence for multiple dynamic climbing gait families; Dynamic similarity and scaling for the design of dynamical legged robots; Running in the horizontal plane with a multi-modal dynamical robot; Classification of dynamical vertical climbing gaits. Representative work: This paper describes the development of a dynamic, quadrupedal robot designed for rapid traversal and interaction in human environments. We explore improvements to both physical and control methods to a legged robot (Minitaur) in order to improve the speed and stability of its gaits and increase the range of obstacles that it can overcome, with an eye toward negotiating man-made terrains such as stairs. These modifications include an analysis of physical compliance, an investigation of foot and leg design, and the implementation of ground and obstacle contact sensing for inclusion in the control schemes. Structural and mechanical improvements were made to reduce undesired compliance for more Animals have demonstrated the ability to move through, across and over some of the most daunting environments on earth. This versatility and adaptability stems from their capacity to alter their locomotion dynamics and employ disparate locomotion modalities to suit the terrain at hand. As with modalities such as running, flying and swimming, dynamic climbing is commonly employed by legged animals, allowing for rapid and robust locomotion on vertical and near-vertical substrates. While recent robotic platforms have proven effective at anchoring reduced-order, dynamic climbing models, its adoption as a common modality for multi-modal, legged platforms remains nascent. In this work, we explore

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