Name
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. |
Year | DOI | Venue |
|---|---|---|
2004 | 10.1177/0278364904045594 | INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH |
Keywords | DocType | Volume |
legged robot, model-based control, contact modeling, dynamic manipulation, experimentation | Journal | 23 |
Issue | ISSN | Citations |
9 | 0278-3649 | 16 |
PageRank | References | Authors |
1.04 | 15 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Uluc̣ Saranlı | 1 | 574 | 69.38 |
| Alfred A. Rizzi | 2 | 1208 | 179.03 |
| Daniel E. Koditschek | 3 | 2838 | 656.10 |