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RHex

RHex
This work was part of a summer research program called SUNFEST at the University of Pennsylvania. I worked in the GRASP Lab under Dr. Daniel Koditschek and Dr. Jonathan Clark. My project was to design variable compliance legs for the RHex hexapedal robot. The legs have built in sensing, actuation, and wireless communication with the main robot body. A process called Shape Deposition Manufacturing was used to embed all of the components within the leg.