Design, modeling and preliminary control of a ... - Semantic Scholar
University of Pennsylvania
ScholarlyCommons Departmental Papers (ESE)
Department of Electrical & Systems Engineering
April 2000
Design, modeling and preliminary control of a compliant hexapod robot Uluc Saranli University of Michigan
Martin Buehler McGill University
Daniel E. Koditschek University of Pennsylvania, [email protected]
Follow this and additional works at: http://repository.upenn.edu/ese_papers Recommended Citation Uluc Saranli, Martin Buehler, and Daniel E. Koditschek, "Design, modeling and preliminary control of a compliant hexapod robot", . April 2000.
Copyright 2000 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, Volume 3, ICRA 2000, pages 2589-2596. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to [email protected]. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.
Design, modeling and preliminary control of a compliant hexapod robot Abstract
We present the design, modeling and preliminary control of RHex, an autonomous dynamically stable hexapod possessing merely six actuated degrees of freedom (at the hip attachment of each leg). Our design emphasizes mechanical simplicity as well as power and computational autonomy, critical components for legged robotics applications. A compliant hexapod model, used to build a simulation environment closely informed the design and construction of the physical machine and promises to inform, similarly, our future analysis as well. Simulations and experiments show that RHex can achieve dynamically stable walking, running and turning with very simple clock driven open-loop control strategies. Comments
Copyright 2000 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, Volume 3, ICRA 2000, pages 2589-2596. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to [email protected]. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.
This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/363
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ScholarlyCommons Departmental Papers (ESE)
Department of Electrical & Systems Engineering
April 2000
Design, modeling and preliminary control of a compliant hexapod robot Uluc Saranli University of Michigan
Martin Buehler McGill University
Daniel E. Koditschek University of Pennsylvania, [email protected]
Follow this and additional works at: http://repository.upenn.edu/ese_papers Recommended Citation Uluc Saranli, Martin Buehler, and Daniel E. Koditschek, "Design, modeling and preliminary control of a compliant hexapod robot", . April 2000.
Copyright 2000 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, Volume 3, ICRA 2000, pages 2589-2596. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to [email protected]. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.
Design, modeling and preliminary control of a compliant hexapod robot Abstract
We present the design, modeling and preliminary control of RHex, an autonomous dynamically stable hexapod possessing merely six actuated degrees of freedom (at the hip attachment of each leg). Our design emphasizes mechanical simplicity as well as power and computational autonomy, critical components for legged robotics applications. A compliant hexapod model, used to build a simulation environment closely informed the design and construction of the physical machine and promises to inform, similarly, our future analysis as well. Simulations and experiments show that RHex can achieve dynamically stable walking, running and turning with very simple clock driven open-loop control strategies. Comments
Copyright 2000 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, Volume 3, ICRA 2000, pages 2589-2596. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to [email protected]. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.
This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/363
!"#$%!!" & ' () % *
!
% )** * * $*&! + $ + %,- & # ' $ % ! ! & % . *&
" ! # ! #
!
! ! " # $ ! # % & ' $ $! ( $
/ 0)
$
# 1 2 ! ! 2 ! ! $ 2 Æ ( $ % & 2 %& ! % 2
& 3 4 ! ! 2 ) " 5 ! 2 Æ 2 ! %$ & 5 ! 1 ( $
$ 6 ' 70! 8! 09: 2 ! 7.: # 1 ; 2 $ %-< & # " ! 2 # 2 % & 1 ! ! 2 $ 2 5
$ = > 79: 2 ; 70.: ' ! 2 ! ( $ " ! 70,: ! 2 ! $ 1 = ( $ = 7,! A M @6 J D !# E= & 6C = !##*N# 666=5 = = < = , 6 H = !###= = = B 6 = 2 = $
- $ C 5 = ?= )G - #F E% !###= &= = @
