Name
Abstract | ||
|---|---|---|
Motivated by an error-recovery locomotion problem, we propose a control technique for a complex mechanical system by decomposing the system dynamics into a collection of simplified models. The robot considered, The Rocking and Rolling Robot (RRRobot), is a high-centered round-bodied robot that locomotes on a plane by swinging its legs and rocking on its shell. We identify the elements contributing to locomotion through two steps: 1) decoupling the leg-body rotation dynamics from the body-plane contact kinematics, and 2) decoupling the body rotational dynamics into dynamics along each rotational axis. We show, using simulation, that such decoupling provides a good approximation to RRRobot's locomotion and use these models to find an approximate control solution for RRRobot: a mapping between planar translation and leg motions. |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1109/IROS.2006.282279 | 2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 |
Keywords | Field | DocType |
mobile robots,system dynamics,rotational dynamics,mechanical systems | Kinematics,Computer science,Control theory,Decoupling (cosmology),Control engineering,Planar,System dynamics,Robot,Mechanical system,Mobile robot | Conference |
Citations | PageRank | References |
2 | 0.37 | 13 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ravi Balasubramanian | 1 | 113 | 15.37 |
| Alfred A. Rizzi | 2 | 1208 | 179.03 |
| Matthew T Mason | 3 | 2102 | 989.62 |