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

Figure 1

Sequence of rapid inversion behavior in a cockroach, gecko, and a robot prototype.

Panels (a) and (b) show a high-speed 180-degree inversion behavior on an incline for cockroaches, P. americana and house geckos, H. platyurus, respectively. Panel (c) shows a cockroach-inspired hexapedal robot, DASH, successfully performing a similar maneuver from a horizontal platform with small Velcro hooks attached at the end of the hind legs.

Figure 1

doi: https://doi.org/10.1371/journal.pone.0038003.g001