Tiny_RHex

grabcad

This is a miniature version of RHex, named Tiny RHex. The original RHex developed by Boston Dynamics uses six motors, one for each C_shaped leg. But only two motors were used in Tiny RHex, with each motor rotating 3 legs. Tiny RHex has a footprint of around 5cm x 6 cm, with a height of 2.5 cm. The weight is around 16 grams with both motors included.I 3D printed the body and legs for the prototype. I ordered the gears from McMaster and used small pipes as shafts. The gear in the parts list was just used to showcase assembly.Currently I am developing control for the robot. I am using a magnetic encoder to get positional data of the leg. With the sensor and rest of the electronics, it might weigh below 50 grams.