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

The International Journal of Robotics Research

U. Saranli*, A. Lizzi*, and D.E. Koditschek†
*Carnegie Mellon University †University of Pennsylvania

Full PDF | Penn Scholarly Commons

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.
BibTeX entry
@ARTICLE{Saranli_model-baseddynamic,
    author = {Uluc Saranli and Alfred A. Rizzi and Daniel E. Koditschek},
    title = {Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot},
    journal = {International Journal of Robotics Research},
    year = {},
    volume = {23},
    pages = {903--918}
}
}

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