mini- RHex (2010 - present)

      mini- RHex is a RHex-style hexapod robot which is designed for exploring two types of locomotion problems: Rough terrain negotiability and dynamic locomotion capability. In addition to ordinary tripod walking and turning behaviors, the robot can perform several different behaviors, including (i) fully autonomous step-climbing maneuver, which enables it to reliably climb a step up to 230% higher than the length of its leg; (ii) model-based running behavior, which enables it to run from 1 m/s to 2 m/s without tuning or optimization efforts; (3) fully autonomous running-to-leaping maneuver.