Back flips with a hexapedal robot

Saranlı, Uluç
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 demonstrate the superiority of the improved control strategy to the first generation empirically designed controller.
Citation Formats
U. Saranlı and D. KODITSCHEK, “Back flips with a hexapedal robot,” presented at the 19th IEEE International Conference on Robotics and Automation (ICRA), Washington, DC, 2002, Accessed: 00, 2020. [Online]. Available: