Validation of Tumbling Robot Dynamics with Posture Manipulation for Closed-Loop Heading Angle Control
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866916488690008064 |
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| author | Salagame, Adarsh Sihite, Eric Ramezani, Alireza |
| author_facet | Salagame, Adarsh Sihite, Eric Ramezani, Alireza |
| contents | Navigating rugged terrain and steep slopes is a challenge for mobile robots. Conventional legged and wheeled systems struggle with these environments due to limited traction and stability. Northeastern University's COBRA (Crater Observing Bio-inspired Rolling Articulator), a novel multi-modal snake-like robot, addresses these issues by combining traditional snake gaits for locomotion on flat and inclined surfaces with a tumbling mode for controlled descent on steep slopes. Through dynamic posture manipulation, COBRA can modulate its heading angle and velocity during tumbling. This paper presents a reduced-order cascade model for COBRA's tumbling locomotion and validates it against a high-fidelity rigid-body simulation, presenting simulation results that show that the model captures key system dynamics. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_12970 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Validation of Tumbling Robot Dynamics with Posture Manipulation for Closed-Loop Heading Angle Control Salagame, Adarsh Sihite, Eric Ramezani, Alireza Robotics Systems and Control Navigating rugged terrain and steep slopes is a challenge for mobile robots. Conventional legged and wheeled systems struggle with these environments due to limited traction and stability. Northeastern University's COBRA (Crater Observing Bio-inspired Rolling Articulator), a novel multi-modal snake-like robot, addresses these issues by combining traditional snake gaits for locomotion on flat and inclined surfaces with a tumbling mode for controlled descent on steep slopes. Through dynamic posture manipulation, COBRA can modulate its heading angle and velocity during tumbling. This paper presents a reduced-order cascade model for COBRA's tumbling locomotion and validates it against a high-fidelity rigid-body simulation, presenting simulation results that show that the model captures key system dynamics. |
| title | Validation of Tumbling Robot Dynamics with Posture Manipulation for Closed-Loop Heading Angle Control |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2411.12970 |