Robotic tumbling locomotion

Brett Hemes; Dario Canelon; Justin Dancs; Nikolaos Papanikolopoulos

doi:10.1109/ICRA.2011.5980330

Robotic tumbling locomotion

Brett Hemes, Dario Canelon, Justin Dancs, Nikolaos Papanikolopoulos

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

11 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 language	English (US)
Title of host publication	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages	5063-5069
Number of pages	7
DOIs	https://doi.org/10.1109/ICRA.2011.5980330
State	Published - 2011
Event	2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China Duration: May 9 2011 → May 13 2011

Publication series

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

Other

Other	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Country/Territory	China
City	Shanghai
Period	5/9/11 → 5/13/11

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10.1109/ICRA.2011.5980330

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Hemes, B, Canelon, D, Dancs, J & Papanikolopoulos, N 2011, Robotic tumbling locomotion. in 2011 IEEE International Conference on Robotics and Automation, ICRA 2011., 5980330, Proceedings - IEEE International Conference on Robotics and Automation, pp. 5063-5069, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 5/9/11. https://doi.org/10.1109/ICRA.2011.5980330

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title = "Robotic tumbling locomotion",

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.",

author = "Brett Hemes and Dario Canelon and Justin Dancs and Nikolaos Papanikolopoulos",

year = "2011",

doi = "10.1109/ICRA.2011.5980330",

language = "English (US)",

isbn = "9781612843865",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "5063--5069",

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note = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011 ; Conference date: 09-05-2011 Through 13-05-2011",

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AU - Canelon, Dario

AU - Dancs, Justin

AU - Papanikolopoulos, Nikolaos

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N2 - 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.

AB - 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.

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DO - 10.1109/ICRA.2011.5980330

M3 - Conference contribution

AN - SCOPUS:84871697253

SN - 9781612843865

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 5063

EP - 5069

BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011

T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011

Y2 - 9 May 2011 through 13 May 2011

ER -

Robotic tumbling locomotion

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