Desert RHex Technical Report: Tengger Desert Trip

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Roberts, Sonia F
Duperret, Jeffrey M
Li, Xinwan
Wang, Hesheng
Koditschek, D. E.
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Desertification is a long-standing issue in China, but research on the processes of desertification is limited by availability of personnel and technical equipment. This suggests a perfect application and further testing ground for the mobile desert sensing technology described in a previous technical report. We describe here the first of two trips to the Tengger Desert as part of a collaborative effort to bring Desert RHexes to China, with the goal of this trip being to discover and address potential locomotor challenges. Our robots were able to ascend 20-degree slopes with an 8.5kg payload, indicating that they could indeed be used for this novel mobile desert sensor application. We achieved locomotion on up to 30-degree slopes unreliably and on up to 27-degree slopes using morphological and behavioral adaptations inspired by our last desert trip.

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2014-11-01
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<p>@TECHREPORT{Roberts-Duperret-2014-Tengger, author = {Roberts, Sonia and Duperret, Jeff and Li, Xinwan and Wang, Hesheng and Koditschek, D. E.}, title = {Desert {R}{H}ex Technical Report: {T}engger {D}esert Trip}, year = {2014}, institution = {University of Pennsylvania}, month = {November}, }</p>
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