I found this article from IEEE Spectrum website, this robot was presented at ICRA this year by Aaron M. Johnson fro m the University of Pennsylvania’s Kod Lab. which has a unique legs structure caught my interest.
And note that this is not a small robot. The UPenn researchers are using their X-RHex Light, or XRL, which weighs 6.7 kilograms (14.8 pounds) and has a body length of 51 centimeters (20 inches). The robot has six compliant C-shaped legs, each with a diameter of 17.5 centimeters (6.9 inches), independently actuated by Maxon 50-W brushless motors.
Here’s exactly what the robot is capable of:
- A vertical standing leap of 30 centimeters (200 percent of RHex’s standing height)
- A double leap that crosses a 60 centimeter gap (120 percent of RHex’s body length)
- A climbing double leap onto a ledge of 29 centimeters
- A vertical leap-grab onto a desk with a height of 73 centimeters (!)
sources:
1. http://spectrum.ieee.org/automaton/robotics/aerial-robots/rhex-does-parkour-all-over-upenn
2. http://spectrum.ieee.org/automaton/robotics/robotics-hardware/upenn-kodlab-rhex-legged-robot-leaping