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Carnegie Mellon Robotics Institute

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Abstract

We report on the design and analysis of a controller that can achieve dynamical self-righting of our hexapedal robot, RHex. Motivated by the initial success of an empirically tuned controller, we present a feedback controller based on a saggital plane model of the robot. We also extend this controller to develop a hybrid pumping strategy that overcomes actuator torque limitations, resulting in robust flipping behavior over a wide range of surfaces. We present simulations and experiments to validate the model and characterize the performance of the new controller.

Keywords

legged robot, model-based control, contact modeling, dynamic manipulation, experimentation

Notes

Sponsor: DARPA/SPAWAR

Grant ID: N66001-00-C-8026

Associated Lab(s) / Group(s): Microdynamic Systems Laboratory

Associated Project(s): RHex Robot

Number of pages: 16

Text Reference

Uluc Saranli, Alfred Rizzi, and Daniel E. Koditschek, "Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot," International Journal of Robotics Research, Vol. 23, No. 9, September, 2004, pp. 903-918.

BibTeX Reference

@article{Saranli_2004_4836,
   author = "Uluc Saranli and Alfred Rizzi and Daniel E. Koditschek",
   title = "Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot",
   journal = "International Journal of Robotics Research",
   pages = "903-918",
   month = "September",
   year = "2004",
   volume = "23",
   number = "9",
}

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