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RHex Robot
This project is no longer active.
Head: Alfred Rizzi
Contact: Alfred Rizzi
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
Associated lab(s) / group(s):
 Microdynamic Systems Laboratory
Project Homepage
Publications
  • Context Identification for Efficient Multiple-Model State Estimation

    Sarjoun Skaff, Howie Choset, and Alfred Rizzi
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November, 2007, pp. 2435-2440.
    Details | pdf (280KB) | Copyrighted

  • Gaits and Gait Transitions for Legged Robots

    Galen Clark Haynes and Alfred Rizzi
    Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006.
    Details | pdf (460KB) | Copyrighted

  • A Context-Based State Estimation Technique for Hybrid Systems

    Sarjoun Skaff, Alfred Rizzi, Howie Choset, and Pei-Chun Lin
    Proceedings of the 2005 IEEE International Conference on Robotics and Automation, April, 2005, pp. 3935-3940.
    Details | pdf (203KB) | Copyrighted

  • Solving Models of Controlled Dynamic Planar Rigid-Body Systems with Frictional Contact

    Aaron L. Greenfield, Uluc Saranli, and Alfred Rizzi
    The International Journal of Robotics Research, Vol. 24, No. 11, November, 2005, pp. 911 - 931.
    Details | pdf (546KB) | Copyrighted

  • Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot

    Uluc Saranli, Alfred Rizzi, and Daniel E. Koditschek
    International Journal of Robotics Research, Vol. 23, No. 9, September, 2004, pp. 903-918.
    Details | pdf (586KB) | Copyrighted

  • Multi-Point Contact Models for Dynamic Self-Righting of a Hexapod Robot

    Uluc Saranli, Alfred Rizzi, and Daniel E. Koditschek
    Proceedings of the Sixth International Workshop on the Algorithmic Foundations of Robotics (WAFR '04), July, 2004, pp. 75-90.
    Details | pdf (296KB) | Copyrighted

  • Template Based Control of Hexapedal Running

    Uluc Saranli and D. E. Koditschek
    Proceedings of the IEEE International Conference On Robotics and Automation, September, 2003.
    Details | pdf (0 Byte) | Copyrighted

  • Sequential Composition for Control of Underactuated Systems

    George A. Kantor and Alfred Rizzi
    tech. report CMU-RI-TR-03-23, Robotics Institute, Carnegie Mellon University, December, 2003
    Details | pdf (382KB) | Copyrighted

  • Inertial navigation and visual line following for a dynamical hexapod robot

    Sarjoun Skaff, George A. Kantor, David Maiwand, and Alfred Rizzi
    2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2003, pp. 1808-1813.
    Details | pdf (478KB) | Copyrighted

  • RHex: A Simple and Highly Mobile Hexapod Robot

    Uluc Saranli, Martin Buehler, and D. E. Koditschek
    International Journal of Robotics Research, Vol. 20, No. 7, July, 2001, pp. 616 - 631.
    Details | pdf (263KB) | Copyrighted

  • Proprioception Based Behavioral Advances in Hexapod Robot

    H. Komsuoglu, D. McMordie, Uluc Saranli, N. Moore, Martin Buehler, and D. E. Koditschek
    IEEE Int. Conf. Robotics and Automation (ICRA '01), May, 2001.
    Details | pdf (448KB) | Copyrighted

  • RHex: A Biologically Inspired Hexapod Runner

    R. Altendorfer, E. Z. Moore, H. Komsuoglu, Martin Buehler, H. Benjamin Brown, D. McMordie, Uluc Saranli, R. Full, and D. E. Koditschek
    Autonomous Robots, Vol. 11, November, 2001, pp. 207 - 213.
    Details | pdf (442KB) | Copyrighted

  • Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot

    R. Altendorfer, Uluc Saranli, H. Komsuoglu, D.E. Koditschek, H. Benjamin Brown, Martin Buehler, N. Moore, D. McMordie, and R. Full
    Experimental Robotics VII, D. Rus and S. Singh, ed., Springer-Verlag, 2001, pp. 291 - 302.
    Details | pdf (347KB) | Copyrighted