Read introductory paper on Rhex

[hmartiro]

I think this is basically the founding paper on the Rhex, from Kodlab:

http://kodlab.seas.upenn.edu/Kod/IJRR2001

Kodlab released this as research in 2001, and Boston Dynamics got hold of it and commercialized it in 2003.

It's a really useful paper and very understandable (even for ELE pleebs), so I think all of us should read it to get some background on the motivation behind Rhex, the pros/cons, and the dynamics involved, so we don't sound like retards when we talk about it.

[hmartiro]

This website is also pretty good background

http://www.rhex.web.tr/

[hmartiro]

This paper discusses the mechanical, electronic, and software components involved well

http://www.google.com/url?sa=t&rct=j&q=&esrc=s&source=web&cd=3&ved=0CDcQFjAC&url=http%3A%2F%2Fciteseerx.ist.psu.edu%2Fviewdoc%2Fdownload%3Fdoi%3D10.1.1.62.182%26rep%3Drep1%26type%3Dpdf&ei=t7hkUJXyJoLH0QGEnYGoBA&usg=AFQjCNHgf5YJIhitjcb58pxIdpePY-TAwg&sig2=2Nbj2Hlg13iwdIE6HRsnPA&cad=rja

Each motor stack has a Maxon motor, encoder, and planetary gear (33:1).

@boleary134 @PayneTrain @towlett @Hughzie

[Hughzie]

I'm putting the more important specs of the RHex from the articles onto the design page for convenience, focusing on hardware stuff sorry CPayne and Hayk ;)

[hmartiro]

Closing this, but everyone should keep looking at various papers during the design project