RHex is a hexapod with compliant legs and only six actuated degrees of freedom. Its ability to traverse highly fractured and unstable terrain, as well ascend and descend a particu...
E. Z. Moore, D. Campbell, Felix Grimminger, Martin...
We present the first controller that allows our small hexapod robot, RHex, to descend a wide variety of regular sized, “real-world” stairs. After selecting one of two sets of ...
Abstract— This paper introduces the concept of gait transitions, acyclic feedforward motion patterns that allow a robot to switch from one gait to another. Legged robots often ut...