Multi-point contact models for dynamic self-righting of a Hexapod

Date

2005-01-01

Author

Saranlı, Uluç
Koditschek, Daniel E.

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In this paper, we report on the design of a model-based controller that can achieve dynamical self-righting of a hexapod robot. Extending on our earlier work in this domain, we introduce a tractable multi-point contact model with Coulomb friction. We contrast the singularities inherent to the new model with other available methods and show that for our specific application, it yields dynamics which are well-defined. We then present a feedback controller that achieves "maximal" performance under morphological and actuation constraints, while ensuring the validity of the model by staying away from singularities. Finally, through systematic experiments, we demonstrate that our controller is capable of robust flipping behavior. © Springer-Verlag Berlin Heidelberg 2005.

URI

https://hdl.handle.net/11511/56248

Journal

Springer Tracts in Advanced Robotics

DOI

https://doi.org/10.1007/10991541_28

Collections

Department of Computer Engineering, Article

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Citation Formats

U. Saranlı and D. E. Koditschek, “Multi-point contact models for dynamic self-righting of a Hexapod,” Springer Tracts in Advanced Robotics, pp. 409–424, 2005, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/56248.