Recently I have been watching Robert Full's talks on TED. He has some obscenely interesting works on robot locomotion. This has intrigued my curiosity and I have been trying to understand his works. I have tried to read many papers on these type of works but I have been unable to understand as I don't have the basics of these things.

Can anyone please direct me to a resource (ebooks, websites, video/audio lectures, forums etc.) where I can understand the basics of Robot Locomotion and gait functions?


2 Answers 2


Here's one source - Tilden's BEAM/Solarbotics stuff tends to be low-power, low-tech, but the flip side of this is that it is simple. I believe he even had a six-leg gait generator built using a single hex-inverter chip. A quick googling produced


Also, Valentino Braitenberg's "Vehicles" is a completely amazing book where the starting point is a simple reflexive control system and as the book progresses, increasing complexity is added. Google for 'braitenberg vehicles' and you will also find a simulator related to the book.


  • \$\begingroup\$ I knew about BEAM robotics. But as you say its overly simple and to make something cool out of such a technology is very hard (see the irony here).Also beam robotics is not as active now. There is no new work done on such a technology. But I think Vehicles is something that may get me started good \$\endgroup\$
    – Rick_2047
    Commented May 8, 2010 at 20:43

I did some more digging and found out this PDF on MIT OCW. Its the course notes for Underactuated systems. I have not yet read the whole book but it is a nice resource to understand concepts of walking as most of the legged locomotion problems require underactuated control. You can find it here 1


Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Not the answer you're looking for? Browse other questions tagged or ask your own question.