Reliable stair climbing in the simple hexapod 'RHex'

Proceedings-IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2002, Pages 2222-2227

  Moore, E Z ^a   Campbell, D ^a   Grimminger, F ^a   Buehler, M ^a  

^a MCGILL UNIVERSITY   (Canada)

Author keywords

Hexapod; Legged locomotion; RHex; Stair climbing

Indexed keywords

ACTUATORS; ALGORITHMS; APPROXIMATION THEORY; CONTROL EQUIPMENT; DEGREES OF FREEDOM (MECHANICS); ELECTRIC RESISTANCE; GRAVITATIONAL EFFECTS; MOTION PLANNING;

HEXAPOD; LEGGED LOCOMOTION; OPEN LOOP CONTROLLER; SPECIFIC RESISTANCE; STAIR CLIMBING;

MOBILE ROBOTS;

EID: 0036055494     PISSN: 10504729     EISSN: None     Source Type: Journal    
DOI: 10.1109/ROBOT.2002.1013562     Document Type: Article

References (15)

1. Similarity in multilegged locomotion: Bouncing like a monopode
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3. RHex: A biologically inspired hexapod runner
4. Design, modeling and preliminary control of a compliant hexapod robot
5. RHex: A simple and highly mobile hexapod robot
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7. Legged Robots that Balance
8. Design of a quadruped walking vehicle for dynamic walking and stair climbing
9. Dynamic trajectory control of passing over stairs by a biped type leg-wheeled robot with nominal reference of static gait
10. Towards dynamic step climbing for a quadruped robot with compliant legs
11. SCOUT: A simple quadruped that walks, climbs, and runs
12. Stable stair climbing in a simple hexapod