3 search results - page 1 / 1 » Reliable Stair Climbing in the Simple Hexapod 'RHex' |
ICRA
2002
IEEE
13 years 9 months ago
2002
IEEE
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...
ICRA
2003
IEEE
13 years 10 months ago
2003
IEEE
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 ...
ICRA
2006
IEEE
13 years 10 months ago
2006
IEEE
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...