| Volume 23 Issue 9- Publication Date: 1 September 2004 |
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| Model-Based Dynamic Self-Righting
Maneuvers for a Hexapedal Robot |
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| U. Saranli, A.A.
Rizzi, Robotics Institute, Carnegie Mellon University, Pittsburgh,
PA 15223, USA and D.E. Koditschek Department of Electrical
Engineering and Computer Science, The University of Michigan, Ann Arbor,
MI 48109-2110, USA |
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| 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. |
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| Multimedia Key |
= Video |
 = Data |
= Code |
= Image |
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|
Extension |
Type |
Description |
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1 |
|
Example
One: RHex 0.5 flipping on linoleum with the original open-loop
controller. (1.4MB) |
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2 |
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Example
Two: RHex 0.5 flipping on carpet with the original open-loop
controller. Multiple thrusts are required for a successful flip.
(0.9MB) |
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3 |
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Example
Three: High-speed video (150fps) of RHex 1.5 flipping on linoleum
with the model based controller. (1.5MB) |
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4 |
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Example
Four: Data files and visualization scripts for all the experiments
and simulations. Please see README.txt in this archive for details
on the format of data files and the usage of associated scripts.
(108.9MB in total) |
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5 |
|
Example
Five: RHex 1.5 flipping on carpet with the model-based controller.
(1.4MB) |
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6 |
|
Example
Six : RHex 1.5 flipping on packed dirt with the model-based
controller. (0.8MB) |
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7 |
|
Example
Seven: RHex 1.5 flipping on asphalt with the model-based controller.
(1.1MB) |
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8 |
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Example
Eight : RHex 1.5 failing to flip on thick grass with the model-based
controller. (1.1MB) |
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9 |
|
Example
Nine : RHex 1.5 flipping on thin grass with the model-based
controller. (0.9MB) |
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