Add to ORKGRHex is a robotic hexapod with springy legs and just six actuated degrees of freedom. This work presents the development of a pronking gait for RHex, extending its efficiency and speed by exploiting its springy legs for hopping. A simple physical model of pronking is presented and verified qualitatively in simulation and experiment. In the course of analysing and attempting to stabilize pronking, the author develops an inertial attitude estimation system for RHex built around a three axis fibre-optic gyroscope. The author also validates a simple current estimation model for RHex's motors, which is then used to detect leg touchdown during pronking
This paper presents the first evidence that the Spring Loaded Inverted Pendulum (SLIP) may be “ancho...
This paper presents the first evidence that the Spring Loaded Inverted Pendulum (SLIP) may be “ancho...
This thesis provides a methodology of sensory system development for a hexapod robot, working toward...
This paper presents a pronking controller for our six-legged robot RHex. Development of the controll...
We report on our progress in extending the behavioral repertoire of RHex, a compliant leg hexapod ro...
RHex is an untethered, compliant leg hexapod robot that travels at better than one body length per s...
RHex is an untethered, compliant leg hexapod robot that travels at better than one body length per s...
In this paper, we present the design, modeling and preliminary control of RHex, an autonomous dynami...
In this paper, we describe the design and control of RHex, a power autonomous, untethered, compliant...
RHex: A Simple and Highly Mobile Hexapod Robot In this paper, the authors describe the design and co...
Abstract. This paper describes the implementation of a preliminary bounding gait in a small hexapod,...
In this paper, the authors describe the design and control of RHex, a power autonomous, untethered, ...
RHex is a cockroach-inspired hexapod robot capable of walking, running, and climbing. This thesis p...
In this paper, we study the kinematics of a legged robot with half-circular leg morphology. In parti...
RHex is a man-packable, six-legged robotic platform capable of traversing highly varied and rugged ...
This paper presents the first evidence that the Spring Loaded Inverted Pendulum (SLIP) may be “ancho...
This paper presents the first evidence that the Spring Loaded Inverted Pendulum (SLIP) may be “ancho...
This thesis provides a methodology of sensory system development for a hexapod robot, working toward...
This paper presents a pronking controller for our six-legged robot RHex. Development of the controll...
We report on our progress in extending the behavioral repertoire of RHex, a compliant leg hexapod ro...
RHex is an untethered, compliant leg hexapod robot that travels at better than one body length per s...
RHex is an untethered, compliant leg hexapod robot that travels at better than one body length per s...
In this paper, we present the design, modeling and preliminary control of RHex, an autonomous dynami...
In this paper, we describe the design and control of RHex, a power autonomous, untethered, compliant...
RHex: A Simple and Highly Mobile Hexapod Robot In this paper, the authors describe the design and co...
Abstract. This paper describes the implementation of a preliminary bounding gait in a small hexapod,...
In this paper, the authors describe the design and control of RHex, a power autonomous, untethered, ...
RHex is a cockroach-inspired hexapod robot capable of walking, running, and climbing. This thesis p...
In this paper, we study the kinematics of a legged robot with half-circular leg morphology. In parti...
RHex is a man-packable, six-legged robotic platform capable of traversing highly varied and rugged ...
This paper presents the first evidence that the Spring Loaded Inverted Pendulum (SLIP) may be “ancho...
This paper presents the first evidence that the Spring Loaded Inverted Pendulum (SLIP) may be “ancho...
This thesis provides a methodology of sensory system development for a hexapod robot, working toward...