Date of this Version
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
Uluc Saranli, Alfred A. Rizzi, and Daniel E. Koditschek, "Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot", . September 2004.
Date Posted: 30 June 2008
This document has been peer reviewed.