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Research Article

Rapid Inversion: Running Animals and Robots Swing like a Pendulum under Ledges

  • Jean-Michel Mongeau mail,

    jmmongeau@berkeley.edu

    Affiliation: Biophysics Graduate Group, University of California, Berkeley, California, United States of America

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  • Brian McRae,

    Affiliation: Department of Bioengineering, University of California, Berkeley, California, United States of America

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  • Ardian Jusufi,

    Affiliation: Department of Integrative Biology, University of California, Berkeley, California, United States of America

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  • Paul Birkmeyer,

    Affiliation: Department of Electrical Engineering and Computer Science, University of California, Berkeley, California, United States of America

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  • Aaron M. Hoover,

    Affiliation: Department of Mechanical Engineering, University of California, Berkeley, California, United States of America

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  • Ronald Fearing,

    Affiliation: Department of Electrical Engineering and Computer Science, University of California, Berkeley, California, United States of America

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  • Robert J. Full

    Affiliation: Department of Integrative Biology, University of California, Berkeley, California, United States of America

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  • Published: June 06, 2012
  • DOI: 10.1371/journal.pone.0038003

About the Authors

Jean-Michel Mongeau
Biophysics Graduate Group, University of California, Berkeley, California, United States of America
Brian McRae
Department of Bioengineering, University of California, Berkeley, California, United States of America
Ardian Jusufi, Robert J. Full
Department of Integrative Biology, University of California, Berkeley, California, United States of America
Paul Birkmeyer, Ronald Fearing
Department of Electrical Engineering and Computer Science, University of California, Berkeley, California, United States of America
Aaron M. Hoover
Department of Mechanical Engineering, University of California, Berkeley, California, United States of America

Corresponding Author

Email: jmmongeau@berkeley.edu

Competing Interests

The authors have declared that no competing interests exist.

Author Contributions

Conceived and designed the experiments: JMM BM RF RJF. Performed the experiments: JMM BM AJ PB AMH. Analyzed the data: JMM BM AJ PB. Wrote the paper: JMM RJF.