Back flips with a hexapedal robot

Date

2002-05-15

Author

Saranlı, Uluç

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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

Conference Name

19th IEEE International Conference on Robotics and Automation (ICRA)

Collections

Department of Computer Engineering, Conference / Seminar

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Citation Formats

U. Saranlı, “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: https://hdl.handle.net/11511/55141.