Toward Legless Locomotion Control

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Toward Legless Locomotion Control
— Motivated by an error-recovery locomotion problem, we propose a control technique for a complex mechanical system by decomposing the system dynamics into a collection of simplified models. The robot considered, The Rocking and Rolling Robot (RRRobot), is a highcentered round-bodied robot that locomotes on a plane by swinging its legs and rocking on its shell. We identify the elements contributing to locomotion through two steps: 1) decoupling the leg-body rotation dynamics from the body-plane contact kinematics, and 2) decoupling the body rotational dynamics into dynamics along each rotational axis. We show, using simulation, that such decoupling provides a good approximation to RRRobot’s locomotion and use these models to find an approximate control solution for RRRobot: a mapping between planar translation and leg motions.
Ravi Balasubramanian, Alfred A. Rizzi, Matthew T.
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Ravi Balasubramanian, Alfred A. Rizzi, Matthew T. Mason
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