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Design Modeling and Preliminary Control of a Compl

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University of Pennsylvania

ScholarlyCommons
Departmental Papers (ESE) Department of Electrical & Systems Engineering

April 2000

Design, modeling and preliminary control of a


compliant hexapod robot
Uluc Saranli
University of Michigan

Martin Buehler
McGill University

Daniel E. Koditschek
University of Pennsylvania, kod@seas.upenn.edu

Follow this and additional works at: http://repository.upenn.edu/ese_papers

Recommended Citation
Uluc Saranli, Martin Buehler, and Daniel E. Koditschek, "Design, modeling and preliminary control of a compliant hexapod robot", .
April 2000.

Copyright 2000 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, Volume 3, ICRA 2000, pages
2589-2596.

This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the
University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this
material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by
writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.

NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the
Department of Electrical and Systems Engineering at the University of Pennsylvania.
Design, modeling and preliminary control of a compliant hexapod robot
Abstract
We present the design, modeling and preliminary control of RHex, an autonomous dynamically stable
hexapod possessing merely six actuated degrees of freedom (at the hip attachment of each leg). Our design
emphasizes mechanical simplicity as well as power and computational autonomy, critical components for
legged robotics applications. A compliant hexapod model, used to build a simulation environment closely
informed the design and construction of the physical machine and promises to inform, similarly, our future
analysis as well. Simulations and experiments show that RHex can achieve dynamically stable walking,
running and turning with very simple clock driven open-loop control strategies.

Comments
Copyright 2000 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and
Automation, Volume 3, ICRA 2000, pages 2589-2596.

This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way
imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal
use of this material is permitted. However, permission to reprint/republish this material for advertising or
promotional purposes or for creating new collective works for resale or redistribution must be obtained from
the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all
provisions of the copyright laws protecting it.

NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan.
Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University
of Pennsylvania.

This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/363


          
        
   
        
          
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