Multi-point contact models for dynamic self-righting of a hexapod

Date

2004-07-13

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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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

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Department of Computer Engineering, Conference / Seminar