E. Z. Moore

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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 particular flight of stairs has already been documented. In this paper, we describe an open loop controller that enables our small robot (Length: 51 cm, Width: 20 cm, Height: 12.7 cm. Leg(More)
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