Sprawled Edubot ( Rhex class )

Project Leader : Kiwon Sohn and Haldun Komsuoglu (Penn)

This project was conducted at Penn under the FIBR (Frontiers in Biological Research) project framework.

For More Details : Kod*Lab (http://kodlab.seas.upenn.edu/)

Goal: Building SprawlHex and Anlysis locomotion charasteristics.

Features: Present experimental data on the dynamics of SprawlHex - a hexapod robot with adjustable body sprawl consisting of time trajectory of full body configuration and single leg ground reaction forces. The dynamics of SprawlHex is compared and contrasted to that of insects. SprawlHex dynamics has qualitative similarities to that of insects in both sagittal and horizontal plane. SprawlHex presents a step towards construction of an effective physical model to study arthropod locomotion.

Kiwon Sohn built a Sprawl Edubot which is Rhex class small hexapod robot. His work on Sprwal Rhex was published in ISER 2008.  ( http://kodlab.seas.upenn.edu/uploads/Haldunk/Komsuoglu-Sohn-Koditschek_ISER2008.pdf. ) 

                                          Reference Video : Rhex from Grasplab Channel

                            Reference Video : Edubot from Grasplab Channel