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RHex: A Simple and Highly Mobile Hexapod Robot

International Journal of Robotics Research, 2001

U. Saranli*, M. Buehler†, D. E. Koditschek*
*: Department of Electrical Engineering and Computer Science, The University of Michigan
†: Center for Intelligent Machines, McGill University †: The Department of Electrical and Systems Engineering
University of Pennsylvania
Full PDF | Scholarly Commons

       In this paper, the authors describe the design and control of RHex, a power autonomous, ntethered, compliant-legged hexapod robot. RHex has only six actuators—one motor located at each hip—achieving mechanical implicity that promotes reliable and robust operation in real-world tasks. Empirically stable and highly maneuverable locomotion arises from a very simple clock-driven, open loop tripod gait. The legs rotate full circle, thereby preventing the common problem of toe stubbing in the protraction (swing) phase. An extensive suite of experimental results documents the robot’s significant “intrinsic mobility”—the traversal of rugged, broken, and obstacle-ridden ground without any terrain sensing or actively controlled adaptation. RHex achieves fast and robust forward locomotion traveling at speeds up to one body length per second and traversing height variations well exceeding its body clearance.
BibTeX entry
Author = {U. Saranli and M. Buehler and D. E. Koditschek},
TITLE = {RHex: A Simple and Highly Mobile Hexapod Robot},
JOURNAL = {International Journal of Robotics Research},
YEAR = {2001},
VOLUME = {20},
NUMBER = {7},
PAGES = {616-631},

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