Proprioceptive sensing for autonomous self-righting on unknown sloped planar surfaces

Collins, Jason; Kessens, Chad C.; Biggs, Stephen J.

doi:10.1109/rose.2013.6698436

Cited by 3 publications

(1 citation statement)

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“…JL-I, 13 a tracked mobile robot, could afford capabilities for 90 • /180 • self-recovery by changing the relative configures of three identical modules. As the first step to provide a generic self-righting solution for any generic robots, a framework 14,15 was proposed to seek an efficient path plan for self-righting and applied to a physical robot with the proprioceptive sensors using 1, 2, and 3 degrees of freedom on unknown sloped planar surfaces, it was an intuitive approach by employing the position of CoM and potential energy to analyse the problem. However, the framework was built under quasistatic assumptions and it will be very complicate for multi-legged robots with at least 18 joints.…”

Section: Introductionmentioning

confidence: 99%

Motion planning and implementation for the self-recovery of an overturned multi-legged robot

Peng¹,

Ding²,

Yang³

et al. 2015

Robotica

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SUMMARYThis paper first presents a method of motion planning and implementation for the self-recovery of an overturned six-legged robot. Previous studies aimed at the static and dynamic stabilization of robots for preventing them from overturning. However, no one can guarantee that an overturn accident will not occur during various applications of robots. Therefore, the problems involving overturning should be considered and solved during robot design and control. The design inspirations of multi-legged robots come from nature, especially insects and mammals. In addition, the self-recovery approach of an insect could also be imitated by robots. In this paper, such a self-recovery mechanism is reported. The inertial forces of the dangling legs are used to bias some legs to touch the ground, and the ground reaction forces exerted on the feet of landing legs are achieved to support and push the body to enable recovery without additional help. By employing the mechanism, a self-recovery approach named SSR (Sidewise-Self-Recovery) is presented and applied to multi-legged robots. Experiments of NOROS are performed to validate the effectiveness of the self-recovery motions. The results show that the SSR is a suitable method for multi-legged robots and that the hemisphere shell of robots can help them to perform self-recovery.

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Section: Introductionmentioning

confidence: 99%