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 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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Campbell, D., Buehler, M. (2003). Preliminary Bounding Experiments in a Dynamic Hexapod. In: Siciliano, B., Dario, P. (eds) Experimental Robotics VIII. Springer Tracts in Advanced Robotics, vol 5. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36268-1_56
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DOI: https://doi.org/10.1007/3-540-36268-1_56
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