Stable Stair Climbing in a Simple Hexapod Robot
نویسنده
چکیده
RHex is a hexapod robot with compliant legs and only six actuated degrees of freedom. Its ability to traverse highly fractured and unstable terrain has already been documented. In this paper, we describe open loop controllers for our small robot to climb and descend regular stairs. The reliability is 90% (9/10) for climbing and 100% (10/10) for descending, based on ten successive trials. Specific resistance, a measure of energy efficiency, during stair climbing is 10.9, and 4.5 during descent.
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Reliable Stair Climbing in the Simple Hexapod 'RHex'
RHex is a hexapod with compliant legs and only six actuated degrees of freedom. Its ability to traverse highly fractured and unstable terrain, as well ascend and descend a particular flight of stairs has already been documented. In this paper, we describe an open loop controller that enables our small robot (Length: 51 cm, Width: 20 cm, Height: 12.7 cm. Leg length: 16 cm), to reliably climb a w...
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