TY - GEN
T1 - A new modular schema for the control of tumbling robots
AU - Hemes, Brett
AU - Papanikolopoulos, Nikolaos
PY - 2009/12/11
Y1 - 2009/12/11
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=76249103758&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=76249103758&partnerID=8YFLogxK
U2 - 10.1109/IROS.2009.5354672
DO - 10.1109/IROS.2009.5354672
M3 - Conference contribution
AN - SCOPUS:76249103758
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 5659
EP - 5664
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -