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

2004-07-13
Saranlı, Uluç
KODITSCHEK, DE
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.

Suggestions

Multi-point contact models for dynamic self-righting of a Hexapod
Saranlı, Uluç; Koditschek, Daniel E. (2005-01-01)
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 morphologica...
Equivalent linearization of 2-way fuzzy adaptive system under nonparametric uncertainty and inconsistency
Gurkan, E; Banks, SP; Erkmen, Aydan Müşerref; Erkmen, İsmet (2002-09-18)
Our aim in this paper is to design a 2-way fuzzy adaptive controller for a flexible robot arm and to analyze the stability of this controller using describing function technique. The 2-way fuzzy adaptive system is used in order to model the nonparametric uncertainties and inconsistencies present in the nonlinear system. The use of intuitionistic fuzzy sets in the 2-way fuzzy adaptive structure makes it possible to model such uncertainties. The proposed architecture is used as a controller for a flexible-joi...
Multi objective conceptual design optimization of an agricultural aerial robot (AAR)
Özdemir, Segah; Tekinalp, Ozan; Department of Aerospace Engineering (2005)
Multiple Cooling Multi Objective Simulated Annealing algorithm has been combined with a conceptual design code written by the author to carry out a multi objective design optimization of an Agricultural Aerial Robot. Both the single and the multi objective optimization problems are solved. The performance figures of merits for different aircraft configurations are compared. In this thesis the potential of optimization as a powerful design tool to the aerospace problems is demonstrated.
Back flips with a hexapedal robot
Saranlı, Uluç (2002-05-15)
We report on the design and analysis of a controller which can achieve dynamical self-righting of our hexapedal robot, RHex. We present an empirically developed control procedure which works reasonably well on indoor surfaces, using a hybrid energy pumping strategy to overcome torque limitations of its actuators. Subsequent modeling and analysis yields a new controller with a much wider domain of success as well as a preliminary understanding of the necessary hybrid control strategy. Simulation results demo...
Adaptive decentralized control of interconnected systems
Sezer, ME; Altunel, H (2004-08-01)
This paper presents a decentralized adaptive stabilization scheme for a class of interconnected systems using high-gain adaptive controllers. The nominal subsystems are assumed to satisfy some mild conditions required by standard adaptive control schemes, and the interconnections certain structural conditions. The decentralized controllers are high-gain dynamic systems operating on local outputs to generate local control inputs. Both continuous-time and sampled-data controllers are considered. The idea behi...
Citation Formats
U. Saranlı and D. KODITSCHEK, “Multi-point contact models for dynamic self-righting of a hexapod,” 2004, vol. 17, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/55067.