Show/Hide Menu
Hide/Show Apps
anonymousUser
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Açık Bilim Politikası
Açık Bilim Politikası
Frequently Asked Questions
Frequently Asked Questions
Browse
Browse
By Issue Date
By Issue Date
Authors
Authors
Titles
Titles
Subjects
Subjects
Communities & Collections
Communities & Collections
Multi-point contact models for dynamic self-righting of a hexapod
Date
2004-07-13
Author
Saranlı, Uluç
RIZZI, AA
KODITSCHEK, DE
Metadata
Show full item record
This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
.
Item Usage Stats
0
views
0
downloads
In this paper, we report on the design of a model-based controller that can achieve dynamical self-righting of a hexapod robot. Extending on our earlier work in this domain, we introduce a tractable multi-point contact model with Coulomb friction. We contrast the singularities inherent to the new model with other available methods and show that for our specific application, it yields dynamics which are well-defined. We then present a feedback controller that achieves "maximal" performance under morphological and actuation constraints, while ensuring the validity of the model by staying away from singularities. Finally, through systematic experiments, we demonstrate that our controller is capable of robust flipping behavior.
URI
https://hdl.handle.net/11511/55067
Collections
Department of Computer Engineering, Conference / Seminar