Design and Analysis of a Flipping Controller for RHex
نویسندگان
چکیده
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. ∗Supported in part by DARPA/ONR Grant N00014-98-1-0747
منابع مشابه
Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot
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تاریخ انتشار 2001