RHex: A Simple and Highly Mobile Hexapod Robot Export

@article{RHex2001OverviewPaper, abstract = {In this paper, the authors describe the design and control of RHex, a power autonomous, untethered, compliant-legged hexapod robot. RHex has only six actuators—one motor located at each hip—achieving mechanical simplicity 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.}, author = {Saranli, Uluc and Buehler, Martin and Koditschek, Daniel E.}, citeulike-article-id = {230931}, citeulike-linkout-0 = {http://www.ijrr.org/contents/20_07/abstract/616.html}, comment = {The URL also links to several videos of the robot running.}, journal = {The International Journal of Robotics Research}, keywords = {legged\_robots}, month = {July}, number = {1}, pages = {616--631}, posted-at = {2005-06-17 21:12:53}, priority = {0}, title = {RHex: A Simple and Highly Mobile Hexapod Robot}, url = {http://www.ijrr.org/contents/20_07/abstract/616.html}, volume = {20}, year = {2001} }

TY - JOUR ID - RHex2001OverviewPaper L3 - citeulike-article-id:230931 N2 - In this paper, the authors describe the design and control of RHex, a power autonomous, untethered, compliant-legged hexapod robot. RHex has only six actuators—one motor located at each hip—achieving mechanical simplicity 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. IS - 1 JF - The International Journal of Robotics Research EP - 631 TI - RHex: A Simple and Highly Mobile Hexapod Robot VL - 20 SP - 616 KW - legged_robots N1 - The URL also links to several videos of the robot running. AU - Saranli, Uluc AU - Buehler, Martin AU - Koditschek, Daniel PY - 2001/07// UR - http://www.ijrr.org/contents/20_07/abstract/616.html ER -