A new modular schema for the control of tumbling robots

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Tumbling is an exciting new area of robotic locomotion that takes advantage of ground-body interactions to achieve rich motions with minimal hardware complexity. The increased mobility of tumbling robots, however, comes at the price of increased control complexity. In this paper, we propose a novel method to handle the issues of tumbling locomotion which takes the problem and separates into locally independent subproblems. Our approach provides an intuitive geometric solution to the tumbling control problem without sacrificing performance. We provide a running example throughout the paper to help solidify the ideas presented.

Original languageEnglish (US)
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages5659-5664
Number of pages6
DOIs
StatePublished - Dec 11 2009
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: Oct 11 2009Oct 15 2009

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period10/11/0910/15/09

Fingerprint Dive into the research topics of 'A new modular schema for the control of tumbling robots'. Together they form a unique fingerprint.

Cite this