“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.
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