A minimally actuated hopping rover for exploration of celestial bodies

Hale, Emily; Schara, N.; Burdick, Joel W.; Fiorini, Paolo

doi:10.1109/robot.2000.844092

Cited by 42 publications

(38 citation statements)

References 14 publications

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“…There have only been a few robots which are explicitly capable of performing such maneuvers [10], [11], [33], but their use of special kinematic structures (for example, long extension arms or reconfigurable wheels) is not suitable for RHex's limited actuation affordance and morphology [29]. Consequently, the dynamic flipping controllers first introduced in [30], and further extended in this paper to more robustly handle models of frictional contact represent a novel approach in performing dynamic maneuvers with legged robots.…”

Section: Related Researchmentioning

confidence: 99%

Solving Models of Controlled Dynamic Planar Rigid-Body Systems with Frictional Contact

Greenfield

Saranlı

2005

The International Journal of Robotics Research

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Effective modeling and control of multi-body systems interacting with their environment through frictional contact remains a challenging problem. In this paper, we address the planar version of this problem by developing a general method to compute the instantaneous dynamic solution for planar rigid-bodies interacting with their environment through Coulomb frictional contacts. The resulting analytic forward solution is represented in piece-wise linear form, which admits tractable inversion for implementing behavioral control. We address the inherent problem of ambiguity in the resulting model (both between and within a particular linear model) by resorting to enumeration techniques and solve for the complete collection of possible model solutions in the presence of both contact constraints and additional task-specific linear constraints. We illustrate the application of these techniques by developing a controller to reliably achieve the dynamic self-righting of a hexapod robot.

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Section: Related Researchmentioning

confidence: 99%

Solving Models of Controlled Dynamic Planar Rigid-Body Systems with Frictional Contact

Greenfield

Saranlı

2005

The International Journal of Robotics Research

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“…Given a particular contact state p, ground reaction forces on the toes can be determined using (6). Similarly, we can compute the contact force on the tail, 14) holds), whereas the black region is where the algebraic collision model becomes invalid.…”

Section: Constraints On the Control Inputsmentioning

confidence: 99%

“…However, various scenarios such as teleoperation and vision based navigation entail a nominal orientation as a result of the accompanying instrumentation and algorithms. Under these constraints, most existing robotic designs with self-righting capabilities incorporate special kinematic structures such as long extension arms or reconfigurable wheels [6,9]. In consequence of weight and power limitations, RHex is not equipped with such structures and must rely on its existing morphology together with dynamic maneuvers to perform a flip-over.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Flipping Controller for RHex

Saranlı¹,

Koditschek²

2003

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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 Report Documentation PageForm Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington VA 22202-4302. Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to a penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number.

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“…However, many application scenarios such as teleoperation and vision based navigation entail a nominal orientation arising from the accompanying instrumentation and algorithms. In order to secure self-righting capabilities in such settings, most robotic platforms manipulate their body orientation through special kinematic structures (for example, long extension arms or reconfigurable wheels [3,4,18]). In contrast, the imperatives of dynamical operation that underly RHex's design and confer its unusual mobility performance [12] preclude such structural appendages.…”

Section: Introductionmentioning

confidence: 99%

Multi-Point Contact Models for Dynamic Self-Righting of a Hexapod

Saranlı¹,

Koditschek²

2005

Springer Tracts in Advanced Robotics

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Summary. In this paper, we report on the design of a model-based controller that can achieve dynamical self-righting of a hexapod robot. Extending on our earlier work in this domain, we introduce a tractable multi-point contact model with Coulomb friction. We contrast the singularities inherent to the new model with other available methods and show that for our specific application, it yields dynamics which are well-defined. We then present a feedback controller that achieves "maximal" performance under morphological and actuation constraints, while ensuring the validity of the model by staying away from singularities. Finally, through systematic experiments, we demonstrate that our controller is capable of robust flipping behavior.

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A minimally actuated hopping rover for exploration of celestial bodies

Cited by 42 publications

References 14 publications

Solving Models of Controlled Dynamic Planar Rigid-Body Systems with Frictional Contact

Solving Models of Controlled Dynamic Planar Rigid-Body Systems with Frictional Contact

Design and Analysis of a Flipping Controller for RHex

Multi-Point Contact Models for Dynamic Self-Righting of a Hexapod

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