Departmental Papers (ESE)

Document Type

Journal Article

Date of this Version

September 2004


Reprinted from The International Journal of Robotics Research, Volume 23, Issue 9, September 2004, pages 903-918.
DOI: 10.1177/0278364904045594

NOTE: At the time of publication the author, Daniel Koditschek, was affiliated with the University of Michigan. Currently, he is a faculty member of the School of Engineering at the University of Pennsylvania.


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



Date Posted: 30 June 2008

This document has been peer reviewed.