We describe a model predicting the output torque of the battery-amplifier-actuator-gear combination used on the hexapod robot RHex, based on requested PWM (PulseWidth-Modulation) ...
In this paper, we present the design, modeling and preliminary control of RHex, an autonomous dynamically stable hexapod possessing merely six actuated degrees of freedom (at the ...
Uluc Saranli, Martin Buehler, Daniel E. Koditschek
— We report on progress toward a continuous time full 6 DOF translational body state estimator for a hexapod robot executing a jogging gait (with 4 consecutive phases: tripod sta...
Pei-Chun Lin, Haldun Komsuoglu, Daniel E. Koditsch...
- This paper presents experiments with a new, three-dimensional bipedal running behaviour for our Robotic Hexapod, RHex. The robot and the bipedal gait are underactuated, using onl...
: This paper presents the first evidence that the Spring Loaded Inverted Pendulum (SLIP) may be "anchored" in our recently designed compliant leg hexapod robot, RHex. Exp...
Richard Altendorfer, Uluc Saranli, Haldun Komsuogl...