Design, Modeling and Preliminary Control of a Compliant Hexapod Robot

  title={Design, Modeling and Preliminary Control of a Compliant Hexapod Robot},
  author={Uluc Saranli and Martin Buehler and Daniel E. Koditschek},
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… CONTINUE READING
Highly Cited
This paper has 95 citations. REVIEW CITATIONS

From This Paper

Topics from this paper.
64 Citations
16 References
Similar Papers


Publications citing this paper.
Showing 1-10 of 64 extracted citations

96 Citations

Citations per Year
Semantic Scholar estimates that this publication has 96 citations based on the available data.

See our FAQ for additional information.


Publications referenced by this paper.
Showing 1-10 of 16 references

Full . The role of the mechanical system in control : A hypothesis of selfstabilization in hexapedal runners

  • T. M. Kubow, J. R.
  • Phil . Trans . R . Soc . Lond . , B .
  • 1999

SimSect Programmer's Manual

  • U. Saranli
  • The University of Michigan,
  • 1999
1 Excerpt

SCOUT: A simple quadraped that walks, climbs and runs

  • M. Buehler, R. Battagila, A. Cocosco, G. Hawker, J. Sarkis, K. Yamazaki
  • In Proceedings of the IEEE International…
  • 1998
1 Excerpt

Similar Papers

Loading similar papers…