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» Stair descent in the simple hexapod 'RHex'
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ICRA
2003
IEEE
98views Robotics» more  ICRA 2003»
13 years 10 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
2002
IEEE
185views Robotics» more  ICRA 2002»
13 years 9 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...