Design and Analysis of a Flipping Controller for RHex

Abstract

We report on the design and analysis of a controller that can achieve dynamical self-righting of our hexapedal robot, RHex. We present an empirically tuned controller that 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 hybrid control strategy. Simulation results demonstrate the superiority of the improved control strategy relative to the first generation empirically designed controller.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2003
Accession Number
ADA462213

Entities

People

  • Daniel E. Koditschek
  • Uluc Saranli

Organizations

  • University of Michigan

Tags

Communities of Interest

  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Algorithms
  • Collisions
  • Computer Science
  • Construction
  • Coordinate Systems
  • Decompression
  • Dynamics
  • Electrical Engineering
  • Energy
  • Energy Storage
  • Engineering
  • Equations
  • Equations Of Motion
  • Kinetic Energy
  • Molecular Dynamics
  • Simulations
  • Thrust Control

Readers

  • Robotics and Automation.
  • Systems Analysis and Design

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy
  • Autonomy - Autonomous System Control