NDLI: Toward Legless Locomotion Control

Content Provider	IEEE Xplore Digital Library
Author	Balasubramanian, R. Rizzi, A.A. Mason, M.T.
Copyright Year	2006
Description	Author affiliation: The Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA (Balasubramanian, R.; Rizzi, A.A.; Mason, M.T.)
Abstract	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 high-centered 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
Starting Page	5594
Ending Page	5599
File Size	968101
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282279
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Leg Legged locomotion Kinematics Motion control Velocity control Intelligent robots Error correction Steady-state Shape Motion planning
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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