A hexapedal robot with a single actuator per leg, intended for real-world mobile applications.

X-RHex is an updated version of the RHex platform, designed to offer substantial improvements in power, run-time, payload size, durability, and terrain negotiation, with a smaller physical volume and a comparable footprint and weight. Furthermore, X-RHex is designed to be easier to build and maintain by using a variety of commercial off-the-shelf (COTS) components for a majority of its internals.

X-RHex

Describes the X-RHex architecture and design, with a particular focus on the ability of this robot to carry modular payloads as a laboratory on legs.


X-RHex: A Highly Mobile Hexapedal Robot for Sensorimotor Tasks

Provides detailed description of the X-RHEX project; its goal, requirements, and design approach. Furthermore, detailed description of design & features, and specifications.


RHex: A Simple and Highly Mobile Hexapod Robot

Describes initial evidence establishing that RHex can “bounce”along its way asif like pogosticks. Review of the biological inspiration motivating that observation. Speculative remarks concern-ing its utility, imagining the beneﬁts for stability and maneuverability.


RHex: A Biologically Inspired Hexapod Runner

Analyzes the classification accuracy obtained using both a single leg and groups of legs on different terrains such as vinyl, asphalt, grass, and pebbles. Additionally, it presents a terrain classifier that works across various gait speeds and in fact almost as good as an overly specialized classifi