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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.
legged robot, model-based control, contact modeling, dynamic manipulation, experimentation
Saranli, Uluc; Rizzi, Alfred A.; and Koditschek, Daniel E., "Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot" (2004). Departmental Papers (ESE). Paper 404.
Date Posted: 30 June 2008
This document has been peer reviewed.