Professor Robert J. Full, in front of a poster of a ghost crab, in his Poly-PEDAL biology lab at UC Berkeley. Full studies animal locomotion on miniaturized treadmills, using hi-speed imaging and force measurements to map out how these creatures actually propel themselves. Cockroaches, crabs, geckos, centipedes have all been studied intently. Full's Poly-PEDAL Lab at UC Berkeley has been working with roboticists for years, supplying them with information on small animal locomotion that is used to construct innovative robots. UC Berkeley, CA, USA.