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Back Flips with a Hexapedal Robot

Proceedings of the IEEE International Conference on Robotics and Automation, May 2002

Uluc Saranli*, and Daniel E. Koditschek
*: University of Michigan
: University of Pennsylvania, kod@seas.upenn.edu

Full PDF | Penn ScholarlyCommons

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 lkitations 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.
BibTeX entry
  author       = "Uluc Saranli, and Daniel E. Koditschek"
  title        = "Back Flips with a Hexapedal Robot",
  booktitle    = "Proceedings of the IEEE International Conference on Robotics and Automation"
  year         = "2002"

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