Departmental Papers (ESE)


In this paper, we report on the design of a model-based controller that can achieve dynamical self-righting of a hexapod robot. Extending on our earlier work in this domain, we introduce a tractable multi-point contact model with Coulomb friction. We contrast the singularities inherent to the new model with other available methods and show that for our specific application, it yields dynamics which are well-defined. We then present a feedback controller that achieves “maximal” performance under morphological and actuation constraints, while ensuring the validity of the model by staying away from singularities. Finally, through systematic experiments, we demonstrate that our controller is capable of robust flipping behavior.

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Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version



BibTeX entry

@inproceedings{Saranli-Sixth International WAFR-2004, author = {Uluc Saranli and Alfred A. Rizzi et al}, title = {Multi-Point Contact Models for Dynamic Self-Righting of a Hexapod Robot}, booktitle = {Proceedings ofthe Sixth International WAFR}, year = {2004}, address = {Utrrecht/Zeist, The Netherlands}, month = {July}, }

We thank Prof. Matt Mason for his insight on friction models and the connection
to Painleve's problem. This work was supported in part by DARPA/ONR Grant



Date Posted: 11 November 2013

This document has been peer reviewed.