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This paper presents an integrated, systems-level view of several novel design and control features associated with the biologically inspired, hexapedal, RiSE (Robots in Scansorial Environments) robot. RiSE is the first legged machine capable of locomotion on both the ground and a variety of vertical building surfaces including brick, stucco, and crushed(More)
We report on the design and development of X-RHex, a hexapedal robot with a single actuator per leg, intended for real-world mobile applications. X-RHex is an updated version of the RHex platform, designed to offer substantial improvements in power, run-time, payload size, durability, and terrain negotiation, with a smaller physical volume and a comparable(More)
— This paper proposes a novel method of applying feedback control for legged robots, by directly modifying parameters of a robot's gait pattern. Gaits are a popular means of producing stable locomotion for legged robots, through the use of cyclic feedforward motion patterns, while requiring little to no sensory information. We are interested in(More)
— This paper describes the development of a legged robot designed for general locomotion of complex terrain but specialized for dynamical, high-speed climbing of a uniformly convex cylindrical structure, such as an outdoor telephone pole. This robot, the RiSE V3 climbing machine—mass 5.4 kg, length 70 cm, excluding a 28 cm tail appendage—includes several(More)
As robot bodies become more capable, the motivation grows to better coordinate them—whether multiple limbs attached to a body or multiple bodies assigned to a task. This paper introduces a new formalism for coordination of periodic tasks, with specific application to gait transitions for legged platforms. Specifically, we make modest use of classical group(More)
This paper revisits the concept of specific resistance, a dimensionless measure of locomotive efficiency often used to compare the transport cost of vehicles (Gabrielli & von Karman 1950), and extends its use to the vertical domain. As specific resistance is designed for comparing horizontal locomotion, we introduce a compensation term in order to offset(More)
We present a framework for detecting, identifying, and recovering within stride from faults and other leg contact disturbances encountered by a walking hexapedal robot. Detection is achieved by means of a software contactevent sensor with no additional sensing hardware beyond the commercial actuators' standard shaft encoders. A simple finite state machine(More)