Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot

Uluc Saranli, Alfred Rizzi, and Daniel E. Koditschek
International Journal of Robotics Research, Vol. 23, No. 9, October, 2004, pp. 903-918.


Download
  • Adobe portable document format (pdf) (586KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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, October, 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 = "October",
   year = "2004",
   volume = "23",
   number = "9",
}