Corpus ID: 186206545

Enhancing the Vertical Mobility of a Robot Hexapod Using Microspines

@article{Martone2019EnhancingTV,
  title={Enhancing the Vertical Mobility of a Robot Hexapod Using Microspines},
  author={Matt Martone and C. Pavlov and Adam Zeloof and V. Bahl},
  journal={ArXiv},
  year={2019},
  volume={abs/1906.04811}
}

• Matt Martone, C. Pavlov, +1 author V. Bahl
• Published 2019
• Computer Science
• ArXiv

Modern climbing robots have risen to great heights, but mechanisms meant to scale cliffs often locomote slowly and over-cautiously on level ground. Here we introduce T-RHex, an iteration on the classic cockroach-inspired hexapod that has been augmented with microspine feet for climbing. T-RHex is a mechanically intelligent platform capable of efficient locomotion on ground with added climbing abilities. The legs integrate the compliance required for the microspines with the compliance required… Expand

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