Back Flips with a Hexapedal Robot

We report on the design and analysis of a controller which can achieve dynamical self-righting of our hexapedal robot, RHex. We present an empirically developed control procedure which works reasonably well on indoor surfaces, using a hybrid energy pumping strategy to overcome torque limitations of its actuators. Subsequent modeling and analysis yields a new controller with a much wider domain of success as well as a preliminary understanding of the necessary hybrid control strategy. Simulation results demonstrate the superiority of the improved control strategy to the first generation empirically designed controller.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Uluc Saranli, Daniel E. Koditschek
• Keywords: Control Strategy, Energy Pumping Strategy, Hybrid Control Strategy, ICRA 2002, Robotics