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Environmental force sensing helps robots traverse cluttered large obstacles

Contact feedback helps snake robots propel against uneven terrain using vertical bending


A terrain treadmill to study animal locomotion through large obstacles

Cockroaches adjust body and appendages to traverse cluttered large obstacles

Snakes combine vertical and lateral bending to traverse uneven terrain

SenSnake: A snake robot with contact force sensing for studying locomotion in complex 3-D terrain

Omni-Roach: A legged robot capable of traversing multiple types of large obstacles and self-righting

A minimalistic stochastic dynamics model of cluttered obstacle traversal


Propelling and perturbing appendages together facilitate strenuous ground self-righting

Locomotor transitions in the potential energy landscape-dominated regime

Shape-induced obstacle attraction and repulsion during dynamic locomotion

Continuous body 3-D reconstruction of limbless animals


Randomness in appendage coordination facilitates strenuous ground self-righting

Coordinated appendages help accumulate energy to self-right on the ground

An energy landscape approach to locomotor transitions in complex 3D terrain

Robotic modelling of snake traversing large, smooth obstacles reveals stability benefits of body compliance


Cockroaches use diverse strategies to self-right on the ground

Snakes partition their body to traverse large steps stably

Dynamic legged traversal of large gap and bump obstacles

Large gap traversal – First dynamic template for locomotion in 3-D terrain

Gart et al. 2018 Bioinsp. Biomim.

Large bump traversal – Locomotion energy landscape reveals mechanical principles

Gart & Li 2018 Bioinsp. Biomim.

Cockroach-inspired Winged Self-Righting Robot

Li et al. 2016, IROS

Terradynamic Streamlining Inspired by Cockroaches

Li et al. 2015, Bioinspiration & Biomimetics

Movie Archive (Chen Li’s PhD work; no longer active)