A Bipedal Running Robot with one Actuator per Leg

- This paper presents experiments with a new, three-dimensional bipedal running behaviour for our Robotic Hexapod, RHex. The robot and the bipedal gait are underactuated, using only one actuated degree of freedom per compliant leg. We doubled up RHex's hind legs by attaching a duplicate set of hind legs at 180° , forming 'S' shaped legs. This reduces the actuator speed requirements during non-contact, while preserving the bipedal dynamics and control challenges.

• Type: Conference
• Year: 2006
• Where: ICRA
• Authors: Neil Neville, Martin Buehler, Inna Sharf
• Keywords: Hind Legs, ICRA 2006, RHex's Hind Legs, Robotics, Three-dimensional Bipedal Running