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RHex Robot
This project is no longer active.

Head: Alfred Rizzi
Contact: Alfred Rizzi (arizzi@bostondynamics.com)

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Associated lab/group: Microdynamic Systems Laboratory

For more information, see this project's homepage.

The RHex project aims to develop a six legged robot, capable of achieving a wide variety of dynamically dextrous tasks, such as walking, running, leaping over obstacles, climbing stairs, with a single autonomous platform. Our emphasis is on mechanical simplicity and the exploration of control strategies designed to work with the natural dynamics of the robot.

Name - Title <Email Address>
• [Home] H. Benjamin Brown - Project Scientist <hbb@cs.cmu.edu>
• Jay Gowdy - Visiting Navlab Associate
• [Home] Galen Clark Haynes - PhD Student, RI <gch@cs.cmu.edu>
• [Home] Jonathan W Hurst - PhD Student, RI <jhurst@cmu.edu>
• David Maiwand - Masters Student, RI
• Alfred Rizzi - Adjunct Faculty (Adjunct) <arizzi@bostondynamics.com>
• [Home] Uluc Saranli - Postdoctoral Fellow
• Sarjoun Skaff - Visiting Scholar <sarjoun@gmail.com>

• 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