Martin Buehler

TL;DR: The design and control of RHex is described, a power autonomous, untethered, compliant-legged hexapod robot that 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.

TL;DR: The iRobot-Harvard-Yale (iHY) Hand is introduced, an underactuated hand driven by five actuators that is capable of performing a wide range of grasping and in-hand repositioning tasks.

TL;DR: Empirical data is presented establishing that RHex exhibits a dynamical (“bouncing”) gait, characteristic of a large and diverse group of running animals, when its central clock, body mass, and leg stiffnesses are appropriately tuned.

TL;DR: The i-HY Hand as discussed by the authors is an underactuated hand driven by five actuators that is capable of performing a wide range of grasping and in-hand manipulation tasks on mobile robots.

TL;DR: This volume, edited by Martin Buehler, Karl Iagnemma and Sanjiv Singh, presents a unique and comprehensive collection of the scientific results obtained by finalist teams that participated in the DARPA Urban Challenge in November 2007, in the mock city environment of the George Air Force base in Victorville, California.