Bounding and stair descent in the hexapod RHex.

摘要

RHex is a man-packable, six-legged robotic platform capable of traversing highly varied and rugged terrain, as well as running up to five body lengths per second. This thesis describes the development of two gaits for RHex: bounding and stair descent. The procedures involved in the development of these gaits are the analysis of video footage of experimental operation and logged-data analysis. Important elements of the functioning bounding gait are proper touchdown detection and energy storage in the compliant legs. For stair descent, the important element is control of the sliding motion of the robot body on the stair. A description of the platform is also presented.