Model based Dynamic Self-Righting Maneuvers for a Hexapedal Robot

Uluc Sarlani

Abstract

In this talk, I will report on our recent progress on a model based controller for performing dynamical backflips with our hexapedal robot RHex. Motivated by the initial success of an empirically tuned controller, our feedback controller incorporates a saggital plane model of the robot and is capable of harvesting maximum performance towards the task, under the constraints of limited actuation. This controller is also extended to employ a hybrid pumping strategy that overcomes actuator torque limitations, resulting in robust flipping behavior over a wide range of surfaces. I will present simulations and experiments to validate the model and characterize the performance of the new controller.

 

Speaker Appointments

For appointments, please contact Uluc Sarlani (ulucs+@cs.cmu.edu).