Article detail · 2004
Model based dynamic self righting maneuvers for a hexapedal robot
Journal
International Journal of Robotics ResearchISSN 0747-5632
The ISSN points to another catalog journal; the name is from the YÖKSİS record.
- Year
- 2004
- Type
- article
Data source split
- YÖKSİS YÖKSİS article record
- YÖKSİS venue International Journal of Robotics Research
- Catalog match (ISSN) Computers in Human Behavior
- OpenAlex OpenAlex enrichment (abstract, citations, topics)
Abstract
OpenAlex · English
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.
Topics
Citations
OpenAlex cited_by_count. Not a WoS or Scopus citation count; those sources have no separate column here.
80 citations
OpenAlex cited_by_count (cache / database)
11 publications in the local catalog that cite this work (OpenAlex reference match; not the full global list).
- Turkey and Russia in the Black Sea Region Dynamics of Cooperation and Conflict 2012
- Control of underactuated planar pronking through an embedded spring-mass Hopper template 2011
- Control of underactuated planar pronking through an embedded spring mass Hopper template 2011
- Adaptive control of a spring-mass hopper 2011
- Solving Models of Controlled Dynamic Planar Rigid-Body Systems with Frictional Contact 2005
- Computer simulation and dynamic modeling of a quadrupedal pronking gait robot with SLIP model 2012
- Optimal control of a half-circular compliant legged monopod 2014
- Optimal control of a half-circular compliant legged monopod 2014
- Multi-point Contact Models for Dynamic Self-Righting of a Hexapod Robot 2004
- Self-Recovery of Quadrupedal Robot Using Deep Reinforcement Learning 2024