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Publications, RHex Robot

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Context Identification for Efficient Multiple-Model State Estimation
  S. Skaff, H. Choset, and A. Rizzi
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), No. 2, November, 2007, pp. 2435-2440. [Abstract]
  Download: pdf [279 KB] copyrighted

• Gaits and Gait Transitions for Legged Robots
  G. Haynes and A. Rizzi
  Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006. [Abstract]
  Download: pdf [459 KB] copyrighted

• A Context-Based State Estimation Technique for Hybrid Systems
  S. Skaff, A. Rizzi, H. Choset, and P. Lin
  Proceedings of the 2005 IEEE International Conference on Robotics and Automation, IEEE, April, 2005, pp. 3935-3940. [Abstract]
  Download: pdf [202 KB] copyrighted

• Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot
  U. Saranli, A. Rizzi, and D.E. Koditschek
  International Journal of Robotics Research, Vol. 23, No. 9, September, 2004, pp. 903-918. [Abstract]
  Download: pdf [586 KB] copyrighted

• Multi-Point Contact Models for Dynamic Self-Righting of a Hexapod Robot
  U. Saranli, A. Rizzi, and D.E. Koditschek
  Proceedings of the Sixth International Workshop on the Algorithmic Foundations of Robotics (WAFR '04), July, 2004, pp. 75-90. [Abstract]
  Download: pdf [295 KB] copyrighted

• Sequential Composition for Control of Underactuated Systems
  G.A. Kantor and A. Rizzi
  tech. report CMU-RI-TR-03-23, Robotics Institute, Carnegie Mellon University, December, 2003. [Abstract]
  Download: pdf [381 KB], ps.gz [853 KB] copyrighted

• Inertial navigation and visual line following for a dynamical hexapod robot
  S. Skaff, G.A. Kantor, D. Maiwand, and A. Rizzi
  2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vol. 2, October, 2003, pp. 1808-1813. [Abstract]
  Download: pdf [478 KB] copyrighted

• Template Based Control of Hexapedal Running
  U. Saranli and D.E. Koditschek
  Proceedings of the IEEE International Conference On Robotics and Automation, September, 2003. [Abstract]
  Download: pdf [0 KB], ps.gz [1308 KB] copyrighted

• RHex: A Biologically Inspired Hexapod Runner
  R. Altendorfer, E.Z. Moore, H. Komsuoglu, M. Buehler, H. Brown, D. McMordie, U. Saranli, R. Full, and D.E. Koditschek
  Autonomous Robots, Vol. 11, November, 2001, pp. 207 - 213. [Abstract]
  Download: pdf [441 KB] copyrighted

• RHex: A Simple and Highly Mobile Hexapod Robot
  U. Saranli, M. Buehler, and D.E. Koditschek
  International Journal of Robotics Research, Vol. 20, No. 7, July, 2001, pp. 616 - 631. [Abstract]
  Download: pdf [263 KB] copyrighted

• Proprioception Based Behavioral Advances in Hexapod Robot
  H. Komsuoglu, D. McMordie, U. Saranli, N. Moore, M. Buehler, and D.E. Koditschek
  IEEE Int. Conf. Robotics and Automation (ICRA '01), May, 2001.
  Download: pdf [447 KB] copyrighted

• Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot
  R. Altendorfer, U. Saranli, H. Komsuoglu, D.E. Koditschek, H. Brown, M. Buehler, N. Moore, D. McMordie, and R. Full
  Experimental Robotics VII, D. Rus and S. Singh, ed., Springer-Verlag, 2001, pp. 291 - 302. [Abstract]
  Download: pdf [346 KB] copyrighted