Back flips with a hexapedal robot

Saranli U. , KODITSCHEK D.

19th IEEE International Conference on Robotics and Automation (ICRA), Washington, Kiribati, 11 - 15 May 2002, pp.2209-2215 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • City: Washington
  • Country: Kiribati
  • Page Numbers: pp.2209-2215


We report on the design and analysis of a controller which can achieve dynamical self-righting of our hexapedal robot, RHex. We present an empirically developed control procedure which works reasonably well on indoor surfaces, using a hybrid energy pumping strategy to overcome torque limitations of its actuators. Subsequent modeling and analysis yields a new controller with a much wider domain of success as well as a preliminary understanding of the necessary hybrid control strategy. Simulation results demonstrate the superiority of the improved control strategy to the first generation empirically designed controller.