Model-based dynamic self-righting maneuvers for a hexapedal robot

Saranlı, Uluç
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.

Citation Formats
U. Saranlı, A. RIZZI, and D. KODITSCHEK, “Model-based dynamic self-righting maneuvers for a hexapedal robot,” INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, vol. 23, no. 9, pp. 903–918, 2004, Accessed: 00, 2020. [Online]. Available: