Control Strategies for a Multi-Legged Hopping Robot

Rolf Allan Luders, Dimitrios (Dimi) Apostolopoulos, and David Wettergreen
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS 2008), Nice, France, September 2008 , October, 2008.


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Abstract
In this paper, we present locomotion control strategies for a novel multi-legged spherical hopping robot named ”Robotic All-Terrain Surveyor” (RATS). The conceptual robot has a spherical body roughly the size of a soccer ball,with 12 legs equally distributed over its surface. While the 12-legged spherical version of the robot is still on its design phase,we have experimented with a planar prototype of the robot to study the control problem in a simpler form. This work presents novel control strategies for the RATS planar robotic platform, which consist in the development of running and jumping gaits.Simulators were implemented as tools to help the development process. Physical experiments with the 5-legged device validate the control approaches and demonstrate the performance of the system and its potential for the future.

Notes

Text Reference
Rolf Allan Luders, Dimitrios (Dimi) Apostolopoulos, and David Wettergreen, "Control Strategies for a Multi-Legged Hopping Robot," Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS 2008), Nice, France, September 2008 , October, 2008.

BibTeX Reference
@inproceedings{Luders_2008_7075,
   author = "Rolf Allan Luders and Dimitrios (Dimi) Apostolopoulos and David Wettergreen",
   title = "Control Strategies for a Multi-Legged Hopping Robot",
   booktitle = "Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS 2008), Nice, France, September 2008 ",
   month = "October",
   year = "2008",
   number= "CMU-RI-TR-",
}