RHex: A Simple and Highly Mobile Hexapod Robot
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Machine scores (provisional)
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
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- Teacher spread
- 0.297 · how far apart the two teachers sit on this one work
- Validation status
score_only:v0-immature-baseline· verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it
Abstract
In this paper, the authors describe the design and control of RHex, a power autonomous, untethered, compliant-legged hexapod robot. RHex has only six actuators—one motor located at each hip— achieving mechanical simplicity that promotes reliable and robust operation in real-world tasks. Empirically stable and highly maneuverable locomotion arises from a very simple clock-driven, open-loop tripod gait. The legs rotate full circle, thereby preventing the common problem of toe stubbing in the protraction (swing) phase. An extensive suite of experimental results documents the robot’s significant “intrinsic mobility”—the traversal of rugged, broken, and obstacle-ridden ground without any terrain sensing or actively controlled adaptation. RHex achieves fast and robust forward locomotion traveling at speeds up to one body length per second and traversing height variations well exceeding its body clearance.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
The record
- Venue
- The International Journal of Robotics Research
- Topic
- Robotic Locomotion and Control
- Field
- Engineering
- Canadian institutions
- McGill University
- Funders
- Defense Advanced Research Projects Agency
- Keywords
- HexapodTraverseComputer scienceTree traversalRobotTerrainSwingControl theory (sociology)SimulationActuatorMobile robotGaitEngineeringArtificial intelligenceControl (management)
- Has abstract in OpenAlex
- yes