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Prof. Daniel E. Koditschek

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Design, Modeling and Preliminary Control of a Compliant Hexapod Robot

Proceedings of the IEEE International Conference on Robotics and Automation, April 2000

Uluc Saranli* Martin Buehler† Daniel E. Koditschek*
*: University of Michigan
†: McGill University
Full PDF | Penn ScholarlyCommons

The RHex experimental platform
      In this paper, we present the design, modeling and preliminary control of RHex, an autonomous dynamically stable hexapod possessing merely six actuated degrees of freedom (at the hip attachment of each leg). Our design emphasizes mechanical simplicity as well as power and computational autonomy, critical components for legged robotics applications. A compliant hexapod model, used to build a simulation environment closely informed the design and construction of the physical machine and promises to inform, similarly, our future analysis as well. Simulations and experiments show that RHex can achieve dynamically stable walking, running and turning with very simple clock driven open-loop control strategies.
BibTeX entry
  title={{Design, modeling and preliminary control of a compliant hexapod robot}},
  author={Saranli, U. and Buehler, M. and Koditschek, D.E.},
  booktitle={IEEE International Conference on Robotics and Automation},

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