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 feedback 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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    Title :

    Preliminary Bounding Experiments in a Dynamic Hexapod


    Contributors:


    Publication date :

    2003-06-30


    Size :

    10 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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