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» Reliable Stair Climbing in the Simple Hexapod 'RHex'
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ICRA
2002
IEEE
185views Robotics» more  ICRA 2002»
13 years 8 months ago
Reliable Stair Climbing in the Simple Hexapod 'RHex'
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...
ICRA
2003
IEEE
98views Robotics» more  ICRA 2003»
13 years 9 months ago
Stair descent in the simple hexapod 'RHex'
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 ...
D. Campbell, Martin Buehler
ICRA
2006
IEEE
131views Robotics» more  ICRA 2006»
13 years 9 months ago
Gaits and Gait Transitions for Legged Robots
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...
G. Clark Haynes, Alfred A. Rizzi