RHex: A biologically inspired hexapod runner

DOI10.1023/A:1012426720699MaRDI QIDQ4794473zbMATH OpenOpenAlexFDO

Authors Richard Altendorfer, Haldun Komsuoglu, Markus J. Buehler, H. Benjamin Jun. Brown, D. McMordie, Uluç Saranli, Robert J. Full, D. E. Koditschek, N. Moore

Publication date 19 February 2003

Published in Autonomous Robots (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1023/a:1012426720699, https://hdl.handle.net/11511/47702

zbMATH Keywords

(SLIP)biomimesiscockroach locomotionhexapod robothierarchical controllegged locomotionspring loaded inverted pendulumtripod gait

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Computing methodologies and applications (68U99)

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Cited in

(16)

• A model for insect locomotion in the horizontal plane: feedforward activation of fast muscles, stability, and robustness
• Dynamics and stability of lateral plane locomotion on inclines
• The effects of feedback on stability and maneuverability of a phase-reduced model for cockroach locomotion
• Kinematics, dynamics, and optimal control of pneumatic hexapod robot
• Virtual quadruped: Mechanical design, control, simulation, and experimentation
• A biologically inspired approach to feasible gait learning for a hexapod robot
• Experimental study on hexapod biomimetic robot's gait planning
• The hydrodynamics of water-walking arthropods
• Attitude control in walking hexapod robots: an analogic spatio‐temporal approach
• A spring-assisted one-degree-of-freedom climbing model
• Six-legged robot gait analysis
• Crawling beneath the free surface: Water snail locomotion
• A simple model for clock-actuated legged locomotion
• A hexapedal jointed-leg model for insect locomotion in the horizontal plane
• Self-stability of a simple walking model driven by a rhythmic signal
• Numerical and experimental study of the virtual quadrupedal walking robot-SemiQuad

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