Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot - Robotics Institute Carnegie Mellon University

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

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

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.

BibTeX

@article{Saranli-2004-9028,
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},
year = {2004},
month = {September},
volume = {23},
number = {9},
pages = {903 - 918},
keywords = {legged robot, model-based control, contact modeling, dynamic manipulation, experimentation},
}