Back flips with a hexapedal robot

Date

2002-05-15

Author

Saranlı, Uluç
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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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.

Subject Keywords

Rhex

URI

https://hdl.handle.net/11511/55141

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Department of Computer Engineering, Conference / Seminar