High Quality Content by WIKIPEDIA articles! RHex is a power - and computation - autonomous hexapod robot with compliant legs and only one actuator per leg. It is the first documented autonomous legged machine to have exhibited general mobility (speeds at bodylengths per second) over general terrain (variations in level at bodyheight scale). RHex is presently capable of speeds exceeding five body lengths per second (2.7 m/s), negotiates a wide variety of rugged terrains over thousands of bodylengths (3700 m distance on one set of batteries), manages slopes exceeding 45 degrees, swims, and climbs stairs.