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The International Journal of Robotics Research
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Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot

Uluc Saranli

Alfred A. Rizzi

Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15223, USA

Daniel E. Koditschek

Department of Electrical Engineering and Computer Science, The University of Michigan, Ann Arbor, MI 48109-2110, USA

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.

Key Words: legged robot • model-based control • contact modeling • dynamic manipulation • experimentation

The International Journal of Robotics Research, Vol. 23, No. 9, 903-918 (2004)
DOI: 10.1177/0278364904045594
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A. Greenfield, U. Saranli, and A. A. Rizzi
Solving Models of Controlled Dynamic Planar Rigid-Body Systems with Frictional Contact
The International Journal of Robotics Research, November 1, 2005; 24(11): 911 - 931.
[Abstract] [PDF]