RHex
Built by University of Michigan, McGill University, Kod*Lab, and DARPA
Updated May 2026·methodology
Overview
RHex is a bio-inspired, hexapedal robot designed for locomotion in rough terrain. It can drive over rocks, mud, sand, snow, and railroad tracks with exceptional agility. The latest version, X-RHex, features improved hardware and a modular payload system that makes it a laboratory on legs, intended for broad use in research, defense, and search-and-rescue applications.
Detailed specifications
Motion & kinematics1
- Dof
- 6
Compute1
- Ros Compatible
- true
Other18
- Price Tier
- 40-80K
- Applications
- pick_and_place,visual_inspection
- Sub Category
- hexapedal legged robot
- Api Available
- true
- Datasheet Url
- Preview PDF online
- Max Speed M S
- 2.7
- Pricing Model
- purchase
- Model Variants
- RHex
- Company Country
- US
- Deployment Notes
- Notable deployments: field tests on asphalt, grass, sand, mud, and rocks; used in ARL Robotics CTA and DARPA M3 programs.
- Compatible Vision
- visual navigation sensors,state estimation sensors
- Industries Served
- research
- Software Platform
- Dynamism
- Training Required
- advanced_>5days
- Availability Status
- research-only
- Countries Available
- US
- Programming Interface
- code_ros,code_python
- Additional Information
- Designed for research purposes at the University of Pennsylvania Kod*lab.,Improvements over predecessors: twice the motor strength, 3-4x runtime, modular payload interfaces.,Legacy compatibility: preserves leg design from Research RHex.,Hot-swappable batteries allow uninterrupted operation.,Uses commercial off-the-shelf (COTS) motor controllers for reliability.,Software architecture based on open-source package 'Dynamism'.,Rapid development of new sensors and behaviors enabled by flexible software system.,Notable as a research platform; not a commercial product.
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