Lab Papers (GRASP)
Document Type
Conference Paper
Date of this Version
5-2009
Abstract
We present a novel approach to controlling the locomotion of a wheel by changing its shape, leading to applications to the synthesis and closed-loop control of gaits for modular robots. A dynamic model of a planar, continuous deformable ellipse in contact with a ground surface is derived. We present two alternative approaches to controlling this system and a method for mapping the gaits to a discrete rolling polygon. Mathematical models and dynamic simulation of the continuous approximation and the discrete n-body system, and experimental results obtained from a physical modular robot system illustrate the accuracy of the dynamic models and the validity of the approach.
Recommended Citation
Daniel Mellinger, Vijay Kumar, and Mark Yim, "Control of Locomotion with Shape-Changing Wheels", . May 2009.
Date Posted: 12 October 2010
This document has been peer reviewed.
Comments
Suggested Citation:
Mellinger, D., V. Kumar and M. Yim. (2009). Control of Locomotion with Shape-Changing Wheels. 2009 IEEE International Conference on Robotics and Automation. Kobe, Japan. May 12-17, 2009.
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