Parametric Jumping Dataset on the RHex Robot

This report presents the apex state achieved after performing a variety of jumps with the XRL robot. A full account of the behaviors and the theoretical basis is given in another paper, this document is intended to simply provide higher resolution copies of those figures, and present the results in numerical form.

[1]  Daniel E. Koditschek,et al.  Toward a vocabulary of legged leaping , 2013, 2013 IEEE International Conference on Robotics and Automation.

[2]  Daniel E. Koditschek,et al.  Laboratory on legs: an architecture for adjustable morphology with legged robots , 2012, Defense, Security, and Sensing.