Motion primitives for a tumbling robot

Brett Hemes, Duc Fehr, Nikolaos P Papanikolopoulos

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

5 Scopus citations

Abstract

The desire for a high mobility-to-size ratio in mobile robots has led to the exploration of many new methods of locomotion, one of which is tumbling. To the authors' knowledge, there are very few tumbling robots in existence and no formalized methods for their control. In this paper we begin addressing these issues by presenting an approach for deriving motion primitives for tumbling robots. We apply our method to the specific case of a two-armed tumbling robot and include the final derived motion primitives. Additionally we discuss in general the motion of tumbling robots and introduce 3 useful gaits derived from the resulting primitives of our approach.

Original languageEnglish (US)
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages1471-1476
Number of pages6
DOIs
StatePublished - Dec 1 2008
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: Sep 22 2008Sep 26 2008

Publication series

Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period9/22/089/26/08

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  • Cite this

    Hemes, B., Fehr, D., & Papanikolopoulos, N. P. (2008). Motion primitives for a tumbling robot. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 1471-1476). [4651072] (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2008.4651072