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Model-based dynamic self-righting maneuvers for a hexapedal robot
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Date
2004-09-01
Author
Saranlı, Uluç
RIZZI, AA
KODITSCHEK, DE
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This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
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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.
Subject Keywords
Mechanical Engineering
,
Modelling and Simulation
,
Electrical and Electronic Engineering
,
Software
,
Applied Mathematics
,
Artificial Intelligence
URI
https://hdl.handle.net/11511/48709
Journal
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
DOI
https://doi.org/10.1177/0278364904045594
Collections
Department of Computer Engineering, Article