RHex-T3: A Mobile Robot, with Hybrid Leg Design

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Innovative design and simulation of a transformable robot with flexibility and versatility, RHex-T3

RHex-T3 = RHex - To The Top (for it can climb ladders)

RHex is a highly successful robot with excellent properties. The robot has six legs that are shaped like semicircles, with a motor installed at the end of each arc. We have redesigned its legs to perform a wide range of functions.

Keywords:

• Robotic Mechanism Design
• Mobile Robot
• Kinematics

Resources

1. PDF
2. Videos

A substantial amount of code I wrote (kinematics, simulation, physical control) cannot be made public, because the lab I used to work will continue to conduct related research.

Videos

This work is self-explanatory, as the videos that follow are easy to understand.

Overview

Exploded View

Transmission System

Workspace

Workspace

Hook Mode

Leg Mode

RHex Mode

Mode Switching

Wheel Mode