Research - RHex
RHex, Robot hexapod, is a 5-year multi-million-dollar multi-school
interdisciplinary legged robotic projects funded by the US Department of
Defense Advanced Research Projects Agency (DARPA). Researchers includes
Prof. D. E.
Koditschek at University of Michigan (relocated to University of
Pennsylvania), Prof.
R. J. Full at UC-Berkeley, Prof.
M. Buehler at McGill University, Canada ( relocated to Boston Dynamics),
and Prof. A. Rizzi
at Carnegie Mellon University.
RHex has only one
active motor-driven rotational degree of freedom
(DOF)
per leg and 1-or-2 DOF passive DOF from leg compliance depended on the leg
type. Low
active DOF improves robustness and reliability in the sense of both design and
control, and the compliant legs provide the well-defined interface to excite dynamic behaviors of
robot locomotion (i.e. with potential and kinetic energy exchange during locomotion).
For more information on RHex, you can visit RHex website (http://www.rhex.net).
Some RHex movies:
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Fractal - roach (mpg, 3.7MB)
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Fractal - RHex (mpg, 1.2MB)
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Running (mpg, 4.6MB)
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Jogging (mpg, 6.5MB)
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Tumble (mpg, 3.0MB)
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Uneven Terrain (mpg, 4.7MB)
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Stair Climbing (mpg, 2.1MB)
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Incline (mpg, 4.6MB)
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Flipping (mpg, 6.5MB)
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Aqua RHex (mpg, 4.4MB)
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Biped Mode (mpg, 2.8MB)
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RHex vs. Dog (mov, 0.8MB)
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