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Bruce – Design and Development of a Dynamic Hexapod Robot
[article]
2020
arXiv
pre-print
This paper introduces Bruce, the CSIRO Dynamic Hexapod Robot capable of autonomous, dynamic locomotion over difficult terrain. This robot is built around Apptronik linear series elastic actuators, and went from design to deployment in under a year by using approximately 80\% 3D printed structural (joints and link) parts. The robot has so far demonstrated rough terrain traversal over grass, rocks and rubble at 0.3m/s, and flat-ground speeds up to 0.5m/s. This was achieved with a simple
arXiv:2011.00523v1
fatcat:7tvznz2pxnaybpwqvebci44lxe