Introducing the Hex-a-ball, a Hybrid Locomotion Terrain Adaptive Walking and Rolling Robot

C.C. Phipps,M.A. Minor

doi:10.1007/3-540-26415-9_63

Introducing the Hex-a-ball, a Hybrid Locomotion Terrain Adaptive Walking and Rolling Robot

C.C. Phipps, M.A. Minor

https://doi.org/10.1007/3-540-26415-9_63

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Publication Date: Jan 1, 2006

Citations: 10

Affiliation: University of Utah

#Rolling Locomotion #Walking Locomotion + Show 8 more

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Abstract

The purpose of this paper is to introduce the Hex-A-Ball (HAB), a robot capable of hybridizing walking and rolling locomotion for improved adaptability, velocity, efficiency, and range of operation. The HAB is a hexapod robot with a spherical exoskeleton which uses its legs and a minimal set of actuators for both walking and rolling locomotion. This paper discusses the mechanical design of the HAB, and walking and rolling locomotion strategies.

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