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RI | Publications | Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot
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Text only version of this site
Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot
U. Saranli, A. Rizzi, and D.E. Koditschek
International Journal of Robotics Research, Vol. 23, No. 9, September, 2004, pp. 903-918.
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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.
| Notes |
Sponsor: DARPA/SPAWAR
Grant ID: N66001-00-C-8026
Associated lab/group: Microdynamic Systems Laboratory
Associated project: RHex Robot
Number of pages: 16
| Text Reference |
U. Saranli, A. Rizzi, and D.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",
month = "September",
year = "2004",
volume = "23",
number = "9",
pages = "903-918"
}