Preliminary Bounding Experiments in a Dynamic Hexapod

Abstract

This paper describes the implementation of a preliminary bounding gait in a small hexapod, RHex 1, with compliant legs. A four-legged bounding gait, which uses only the front and back leg pairs, achieves an average speed of 1.5 m/s and a low specific resistance. Leg touchdown angles and desired stance trajectories are fixed a priori. The only feed back employed is leg angle sensing and touchdown detection. With no explicit controller-level synchronization between the front and back leg pairs, stable pitch oscillations are obtained from the excited natural dynamics of the system.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2005
Accession Number
ADA438807

Entities

People

  • Douglas M. Campbell
  • M. Buehler

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Abstracts
  • Algorithms
  • Computations
  • Control Systems
  • Detection
  • Detectors
  • Dynamics
  • Energy Consumption
  • Energy Efficiency
  • Flight
  • High Speed Cameras
  • Information Operations
  • Kinetic Energy
  • Oscillation
  • Resistance
  • Robots
  • Trajectories

Readers

  • Control Systems Engineering.
  • Robotics and Automation.