Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot  

Oleh:

Rizzi, Alfred A. ; Koditschek, Daniel E. ; Saranli, Uluc

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 23 no. 9 (Sep. 2004), page 903-918.
Topik: legged robot; model-based control; contact modeling; dynamic manipulation; experimentation
Fulltext: 903.pdf (317.38KB)

Isi artikel

We report on the design and analysis of a controller that can achieve dynamical self-righting of our hexapedal robot, RHex. Motivated by the initial success of an empirically tuned controller, we present a feedback controller based on a saggital plane model of the robot. We also extend this controller to develop a hybrid pumping strategy that overcomes actuator torque limitations, resulting in robust flipping behavior over a wide range of surfaces.We present simulations and experiments to validate the model and characterize the performance of the new controller.

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