Monopedal robot branch-to-branch leaping and landing inspired by squirrel balance control

Locomotors traversing arboreal environments must often leap across large gaps to landon small diameter supports. Balancing these dynamic landings is challenging due to high incidentmomentum, restricted foothold options, and reduced capacity to produce reaction torques onnarrow supports. We hypothesized that leg length control to enhance branch reaction controlauthority would dramatically expand the range of successful landing conditions, drawing on thesame powerful leg actuation required for leaping. Exploring this balance strategy, the monopedalrobot Salto-1P demonstrates branch-to-branch leaps including some upright balanced landingdespite negligible grasping torque. We also compared this landing strategy to the landings ofsquirrels which similarly lack the grip strength found in other arboreal species. We demonstratethat greater radial force control reduces the inertial body torque and/or grasping torque at thesupport required to balance a given landing. Adding simple radial force ba..., , , # Data from: Monopedal robot branch-to-branch leaping and landing inspired by squirrel balance control

**Dataset overview**
Details of the formulation and analysis of these files are described in the related publication (see below).

This dataset contains experimental data collected with the Salto monopedal jumping robot, data from N. H. Hunt et al. \"Acrobatic squirrels learn to leap and land on tree branches without falling\" published in Science (2021) with new analysis, and simulation models of leaping and landing.

Data collection by N. H. Hunt et al. (2021) was approved by the University of California, Berkeley’s Animal Care and Use Committee (AUP-2015-08-7830) and the California Department of Fish and Wildlife Nongame Wildlife Program.

**Corresponding author information**

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Name: Justin K. Yim
ORCID: 0000-0002-8593-7032
Affiliation: Department of Mechanical Science and Engineering, University of Illinois Urbana-Champaign, Urbana, Illinois, United States
email: jkyim@illinoi...,