Rhex robot pdf

A bipedal running robot with one actuator per leg. ICRA View 2 excerpts, cites background. Volume 5A: 43rd Mechanisms and Robotics Conference. The gait of a hexapod robot and its obstacle-surmounting capability. In this paper, we present a kind of an eccentric-type legged hexapod robot--ELHR, including its leg model, gait planning and obstacle-surmounting capability. It is a RHex-like robot, and is expected … Expand.

Design, control, and energetics of an electrically actuated legged robot. Computer Science, Medicine. IEEE Trans. Man Cybern. Part B. View 1 excerpt, references methods. Mechanical models for insect locomotion: dynamics and stability in the horizontal plane I. Biological Cybernetics. View 1 excerpt, references background. Biomimetic design and fabrication of a hexapedal running robot. Proceedings ICRA. Highly Influential. View 2 excerpts, references background.

Legged Robots That Balance. IEEE Expert. Stable open loop walking in quadruped robots with stick legs.

This legged locomotion platform is a hybrid dynamical system that features only six active degrees of freedom — one actuator in each hip.

The legs of the robot are made out of compliant material realizing passive actuation in radial and wing degrees of freedom. Namely, actuation actions are performed according to a well timed schedule in the absence of sensory information relating the robot to its environment and to its goal. Buehler, U. Saranli, D. Papadopoulos, and D. Dynamic locomotion with four and six legged robots.

Design, modeling and preliminary control of a compliant hexapod robot. Saranli, W. Schwind, and D. Toward the control of a multi-jointed, monoped runner. The Physiologist , 45 4 , August Journal of the Robotics Society of Japan , 20 3 , April Campbell and M. Preliminary Bounding Experiments in a Dynamic Hexapod. Neville, M.

McMordie, C. Prahacs, M. Campbell, M. Campbell, F. Grimminger, and M. RePaC design and control: Cheap and fast autonomous runners.

In Proceedings of the 4th Int. McMordie and M. Towards Pronking with a Hexapod Robot. Moore and M. Stable Stair Climbing in a Simple Hexapod. Lin, H. In Proc. IEEE Int. Skaff, A.