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RHex

Details

RHex is a bio-inspired, hexapedal robot designed for locomotion in rough terrain. It can drive over rocks, mud, sand, snow, and railroad tracks. You can throw any obstacle in front of it: RHex doesn't care.

Creator
University of Michigan and McGill University

(Commercial version manufactured by Boston Dynamics)

Country
United States 🇺🇸
Year
2001
Type
Research, Military & Security
Creator
University of Michigan and McGill University

(Commercial version manufactured by Boston Dynamics)

Country
United States 🇺🇸
Year
2001
Type
Research, Military & Security

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Did You Know?

Roboticist Martin Buehler got the inspiration for RHex's design when he saw a cockroach racing over a rough surface.
The name RHex means "robotic hexapod."
The latest version, X-RHex, has an actuated tail for improved mobility.

Specs

FEATURES
Rugged, modular design. Dust- and waterproof. Equipped with modular payload bay for mission-specific packages.
HEIGHT
20 cm | 7.9 in
LENGTH
57 cm | 22.4 in
WIDTH
39 cm | 15.4 in
WEIGHT
12.5 kg | 27.6 lb (RHex); 8.6 kg | 19 lb (X-RHex)
SPEED
9.72 km/h | 6 mph

SENSORS
Cameras, gyroscope, accelerometer, and other optional sensors. Position, current, and temperature sensors in the motors.
ACTUATORS
Six DC motors
POWER
Two 144-Wh lithium-polymer batteries, 6 hours of operation
COMPUTING
Intel-based main computer; payload computer (optional).
SOFTWARE
Linux OS. Control software can be programmed in C, Python, or Matlab.
DEGREES OF FREEDOM (DOF)
6
MATERIALS
Aluminum and carbon fiber body.
COST
N/A
STATUS
Ongoing
WEBSITE
http://kodlab.seas.upenn.edu/RHex/Home

History

The original RHex hexapod was built between 1999 and 2001 by a DARPA-funded consortium that included McGill University and the University of Michigan. Later versions include Rugged RHex, Aqua, EduBot, and Desert RHex, among others, and a commercial version is available from Boston Dynamics. The latest version, developed at the University of Pennsylvania, is X-RHex, which features improved hardware and a modular payload system that makes it a "laboratory on legs." X-RHex supports a variety of sensor suites on a small, mobile robotic platform intended for broad, general use in research, defense, and search-and-rescue applications.