The “robot hexapod,” appropriately nicknamed RHex, was originally developed through multi-university collaboration more than a decade ago and possesses six impressive legs.
It is characterized by its ability to roam all terrains, leap, back-flip, climb and navigate its way over obstacles larger than itself. Its legs provide an advantage over rough terrain that wheels do not offer, but they pose challenges for researchers, since legs require specific and complex instructions.
University of Pennsylvania researchers are training this robot in Parkour, a free-running training discipline using movements developed out of military obstacle course training. The robot is taught how to manipulate its body in creative ways to get around obstacles. This is what gives RHex its unique ability to perform backflips, pull-ups and more.
In the video above, the robot can be seen jumping between benches, propelling itself forward and lunging over gaps. With tall obstacles, RHex can launch itself vertically, hook its front legs on the edge of a large object and drag its body up and over—illustrating the “pull-up” motion.
Presently, graduate student Aaron Johnson and Professor Daniel Koditschek, under the Department of Electrical and Systems Engineering in the School of Engineering and Applied Science, are working on a newer version of RHex, termed XRL, or X-RHex Lite. This is a lighter version and is perfect for testing movements within the six complex, one-jointed legs of the robot.
XRL, when its legs are activated in different sequences, can perform double jumps, flips and more. Those working on the robot hope that one day, it can climb over rubble in rescue missions or cross deserts with environmental sensors. Johnson commented, "What we want is a robot that can go anywhere, even over terrain that might be broken and uneven. These latest jumps greatly expand the range of what this machine is capable of, as it can now jump onto or across obstacles that are bigger than it is.”
