Русская Википедия:Рэкс (робот)

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Файл:Rhex.jpg

Бегущий RHex 1.1.

Рэкс (RHex) — автономная роботизированная шестиногая конструкция с податливыми ногами и с индивидуальным приводом на каждую ногу. Разработана рядом университетов США при поддержке DARPA.

Версии робота показали хорошую мобильность для различных типов местности со скоростью, превышающей пять длин корпуса в секунду (прибл. 2,7 м/с), в частности, при подъёме по склонам с углом наклона более 45 градусов, плавании и подъеме по лестницам.

История создания

Файл:RHex robotic hexapod - D60 Symposium - Defense Advanced Research Projects Agency - DSC05547.jpg

Рэкс на Симпозиуме D60.

Разработка робота Рэкс RHex является результатом совместной работы ряда университетов, включая

• The University of Michigan, Энн Арбор, США
• McGill University, Монреаль, Канада
• Carnegie Mellon University, Питсбург, США
• University of California, Беркли, США
• Princeton University, Принстон, Сша
• Cornell University, Итака, США
• Шаблон:Iw, Лахор, Пакистан

Разработка опиралась математические методы из теория динамических систем применительно к проблемам передвижения животных.

Ссылки

• Saranli U, Buehler M, Koditschek DE. RHex: A Simple and Highly Mobile Hexapod Robot. The International Journal of Robotics Research. 2001;20(7):616-631. https://doi.org/10.1177/02783640122067570
• A. Greenfield, U. Saranli, and A. A. Rizzi. Solving models of controlled dynamic planar rigid-body systems with frictional contact. International Journal of Robotics Research. 24(11):911-931, 2005.
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• R. Altendorfer, U. Saranli, H. Komsuoglu, D. E. Koditschek, Jr. H. B. Brown, M. Buehler, N. Moore, D. McMordie, and R Full. Evidence for spring loaded inverted pendulum running in a hexapod robot. In D. Rus and S. Singh, editors, Experimental Robotics VII, Lecture Notes in Control and Information Sciences, chapter 5, pages 291–302. Springer, December 2000.
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• J.C. Spagna, D.I. Goldman, P-C. Lin, D.E. Koditschek, & R.J. Full. Distributed mechanical feedback in arthropods and robots simplifies control of rapid running on challenging terrain. Bioinspiration and Biomimetics 2: 9–18. January 2007.