kiik / rhexlib

Revived RHexLib for our sixlegged robot friends

Institutions

RHexLib was developed in collaboration by the following institutions:

• The University of Michigan, Ann Arbor
• McGill University, Montreal

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Original Authors:

• Uluc Saranli [email protected]

  • Apr 2001: Flipping controller and FlipMachine module
  • Mar 2001: SimSect hardware support
  • Feb 2001: SitMachine, StandMachine, CalibMachine implementations
  • Feb 2001: StallSensor, TouchdownDetector, EncoderReader, RemoteControl modules
  • Feb 2001: Low level motor control
  • Feb 2001: Tokenizer and Symbol table facilities for configuration files
  • Feb 2001: Basic DataLogger module
  • Feb 2001: Michigan RHex, and Virtual hardware support
  • Jan 2001: Hardware abstract layer concept for low level hardware access
  • Jan 2001: Initial QNX port, OS specific functionality
  • Dec 2000: The module and module manager concepts

• Eric Klavins [email protected]

  • Mar 2001: Basic linear profiling tools
  • Mar 2001: WalkMachine implementation
  • Feb 2001: Virtual hardware support
  • Jan 2001: State machine framework and associated tools
  • Dec 2000: The module and module manager concepts

Contributors:

• Haldun Komsuoglu [email protected]

  • Mar 2001: Filter and Math tools
  • Mar 2001: Inclination compensation for walking and standing

• Joel Weingarten [email protected]

  • Jun 2001: Threading the module manager
  • June 2001: Communications module

• Dave McMordie [email protected]

  • May 2001: Pronking controller
  • May 2001: McGill hardware support

• Ned Moore [email protected]

  • May 2001: Stair climbing controller

• Laura McWilliams [email protected]

  • June 2001: RHexLogger module and associated facilities.

• Rob Peters [email protected]

  • June 2001: ExtProfiler functional profiling tools
  • June 2001: Variable speed walking controller

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Sponsors:

RHexLib development is supported in part by:

• DARPA/ONR Grant N00014-98-1-0747