Robotic tumbling locomotion

Brett Hemes, Dario Canelon, Justin Dancs, Nikolaos Papanikolopoulos

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

10 Scopus citations

Abstract

In this paper we introduce tumbling, a relatively unexplored method of locomotion in which the robot utilizes net body rotations while ambulating. Tumbling for mobile robots is attractive in that it can enable increased mobility on smaller scales, often while reducing hardware requirements. As motivation for this interesting form of locomotion we provide a geometric analysis of a vertical step climbing task, one that tumbling robots perform well with respect to their size and complexity. In addition to our analysis we present results of a hardware experiment with a tumbling robot performing the task for varying combinations of frictional coefficients at the step and ground.

Original languageEnglish (US)
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages5063-5069
Number of pages7
DOIs
StatePublished - 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: May 9 2011May 13 2011

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Country/TerritoryChina
CityShanghai
Period5/9/115/13/11

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