Model-based dynamic self-righting maneuvers for a hexapedal robot


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Saranli U. , RIZZI A., KODITSCHEK D.

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, cilt.23, ss.903-918, 2004 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 23 Konu: 9
  • Basım Tarihi: 2004
  • Doi Numarası: 10.1177/0278364904045594
  • Dergi Adı: INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
  • Sayfa Sayıları: ss.903-918

Özet

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.