{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,24]],"date-time":"2026-07-24T20:33:17Z","timestamp":1784925197718,"version":"3.55.0"},"reference-count":33,"publisher":"SAGE Publications","issue":"7","license":[{"start":{"date-parts":[[2001,7,1]],"date-time":"2001-07-01T00:00:00Z","timestamp":993945600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2001,7]]},"abstract":"<jats:p>In this paper, the authors describe the design and control of RHex, a power autonomous, untethered, compliant-legged hexapod robot. RHex has only six actuators\u2014one motor located at each hip\u2014 achieving mechanical simplicity that promotes reliable and robust operation in real-world tasks. Empirically stable and highly maneuverable locomotion arises from a very simple clock-driven, open-loop tripod gait. The legs rotate full circle, thereby preventing the common problem of toe stubbing in the protraction (swing) phase. An extensive suite of experimental results documents the robot\u2019s significant \u201cintrinsic mobility\u201d\u2014the traversal of rugged, broken, and obstacle-ridden ground without any terrain sensing or actively controlled adaptation. RHex achieves fast and robust forward locomotion traveling at speeds up to one body length per second and traversing height variations well exceeding its body clearance.<\/jats:p>","DOI":"10.1177\/02783640122067570","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T01:53:44Z","timestamp":1058579624000},"page":"616-631","source":"Crossref","is-referenced-by-count":1073,"title":["RHex: A Simple and Highly Mobile Hexapod Robot"],"prefix":"10.1177","volume":"20","author":[{"given":"Uluc","family":"Saranli","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering and Computer Science, University of                         Michigan, Ann Arbor, MI 48109-2110, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Martin","family":"Buehler","sequence":"additional","affiliation":[{"name":"Center for Intelligent Machines, McGill University, Montreal,                         Qu\u00e9bec, Canada, H3A 2A7"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Daniel E.","family":"Koditschek","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computer Science, University of                         Michigan, Ann Arbor, MI 48109-2110, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2001,7,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"crossref","unstructured":"Ahmadi, M., and Buehler, M. 1999. 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