/Toward Legless Locomotion Control

Toward Legless Locomotion Control

Ravi Balasubramanian, Alfred Rizzi and Matthew T. Mason
Conference Paper, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5594 - 5599, October, 2006

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Motivated by an error-recovery locomotion problem, we propose a control technique for a complex mechanical system by decomposing the system dynamics into a collection of simplified models. The robot considered, The Rocking and Rolling Robot (RRRobot), is a high-centered round-bodied robot that locomotes on a plane by swinging its legs and rocking on its shell. We identify the elements contributing to locomotion through two steps: 1) decoupling the leg-body rotation dynamics from the body-plane contact kinematics, and 2) decoupling the body rotational dynamics into dynamics along each rotational axis. We show, using simulation, that such decoupling provides a good approximation to RRRobot’s locomotion and use these models to find an approximate control solution for RRRobot: a mapping between planar translation and leg motions.

BibTeX Reference
author = {Ravi Balasubramanian and Alfred Rizzi and Matthew T. Mason},
title = {Toward Legless Locomotion Control},
booktitle = {2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2006},
month = {October},
pages = {5594 - 5599},