Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot

Author:

Saranli Uluc,Rizzi Alfred A.1,Koditschek Daniel E.2

Affiliation:

1. Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15223, USA

2. Department of Electrical Engineering and Computer Science, The University of Michigan, Ann Arbor, MI 48109-2110, USA

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.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software

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