RHex is an autonomous robot design, based on hexapod with compliant legs and one actuator per leg. A number of US universities have participated, with funding grants also coming from DARPA.

Versions have shown good mobility over a wide range of terrain types[1] at speeds exceeding five body lengths per second (2.7 m/s), climbed slopes exceeding 45 degrees, swims, and climbs stairs.” — Rhex – Wikipedia

RHex does well in a variety of terrain with relatively simple control (not much sensor feedback is required for the robot to successfully move forward). A “wheg” is a combination of wheel and leg. It is a leg which operates by spinning around a single axis. In RHex the elasticity / springiness of the legs helps the legs to dynamically adapt to the terrain.

Advantages of a robotics platform for studying sand dunes
RHex desert testing. Notice the alternating tripods formed by the pairs of 3 legs. The robot seems to struggle with a relatively moderate sand incline

RHex on varying terrain. Includes the robot’s sensor view climbing up a sandy mountain slope.
RHex in mud, water, righting itself, and running
DIY Wheg Robot

RHex home video – one day we’ll look back on our robot like this!
Categories: Robotics


Leave a Reply

Avatar placeholder

Your email address will not be published. Required fields are marked *