Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot
Loading...
Penn collection
Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
Degree type
Discipline
Subject
GRASP
Kodlab
legged robot
model-based control
contact modeling
dynamic manipulation
experimentation
Kodlab
legged robot
model-based control
contact modeling
dynamic manipulation
experimentation
Funder
Grant number
License
Copyright date
Distributor
Related resources
Author
Contributor
Abstract
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.
Advisor
Date Range for Data Collection (Start Date)
Date Range for Data Collection (End Date)
Digital Object Identifier
Series name and number
Publication date
2004-09-01
Journal title
Volume number
Issue number
Publisher
Publisher DOI
Comments
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.