Design, modeling and preliminary control of a compliant hexapod robot

Date

2000-01-01

Author

Saranlı, Uluç
Koditschek, Daniel E.

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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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 hip attachment of each leg). Our design emphasizes mechanical simplicity as well as power and computational autonomy, critical components for legged robotics applications. A compliant hexapod model, used to build a simulation environment closely informed the design and construction of the physical machine and promises to inform, similarly, our future analysis as well. Simulations and experiments show that RHex can achieve dynamically stable walking, running and turning with very simple clock driven open-loop control strategies.

Subject Keywords

Legged locomotion , Intelligent robots , Leg , Computational modeling , Prototypes , Computer science , Analytical models, Hip , Machine intelligence

URI

https://hdl.handle.net/11511/57551

Journal

Proceedings-IEEE International Conference on Robotics and Automation

DOI

https://doi.org/10.1109/robot.2000.846418

Collections

Department of Computer Engineering, Article

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Citation Formats

U. Saranlı and D. E. Koditschek, “Design, modeling and preliminary control of a compliant hexapod robot,” Proceedings-IEEE International Conference on Robotics and Automation, pp. 2589–2596, 2000, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/57551.