Science Robotics

Supplementary Materials

The PDF file includes:

  • Text
  • Fig. S1. Exploded view of SILVER2 with all subsystems.
  • Fig. S2. CAD rendering of three-DOF segmented leg.
  • Fig. S3. Electronic subsystem.
  • Fig. S4. Exploded view of the camera canister.
  • Fig. S5. The original U-SLIP and the articulated version.
  • Fig. S6. Comparison between SILVER2 and U-SLIP simulation over a single step.
  • Fig. S7. Control of hopping locomotion.
  • Fig. S8. Parametric analysis of U-SLIP performance with respect to touchdown angle and spring stiffness.
  • Fig. S9. Control of omnidirectional walking locomotion.
  • Fig. S10 Reconstructed long-exposure images.
  • Table S1. Parameters of U-SLIP model and values used in simulations.
  • Table S2. Free parameters of omnidirectional walking gait.
  • Table S3. Data of the tests presented.
  • Legends for movies S1 to S5

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Hopping locomotion.
  • Movie S2 (.mp4 format). Hopping locomotion.
  • Movie S3 (.mp4 format). Walking locomotion.
  • Movie S4 (.mp4 format). Sea life.
  • Movie S5 (.mp4 format). Approaching procedure.

Files in this Data Supplement: