Modular configuration design for a controlled fall

  title={Modular configuration design for a controlled fall},
  author={Thomas W. Mather and Mark Yim},
  journal={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
Much like a falling cat can reorient itself to land on its feet, a climbing robot should also reorient itself to minimize damage during a fall. This paper presents and analyzes the dynamic motion of a modular robot, called CKbot righting itself during a fall. It presents a mathematical model of the falling system that correlates well with experimental reorientation results about one axis. The model also explains why the the process of flipping around is practical only about the long axis of the… CONTINUE READING

From This Paper

Figures, tables, and topics from this paper.


Publications citing this paper.
Showing 1-9 of 9 extracted citations

Optimal control for geometric motion planning of a robot diver

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) • 2016

Development of a stair traversing two wheeled robot

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems • 2012
View 1 Excerpt

Tails in biomimetic design: Analysis, simulation, and experiment

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems • 2012


Publications referenced by this paper.
Showing 1-10 of 12 references

A biologicallyinspired dynamic legged locomotion with a modular reconfigurable robot

J. Sastra, W. G. Bernal-Heredia, J. Clark, M. Yim
In Proc. of DSCC ASME Dynamic Systems and Control Conference, • 2008
View 3 Excerpts
Highly Influenced

Near-optimal nonholonomic motion planning for a system of coupled rigid bodies

C. Fernandes, L. Gurvits, Zexiang Li
Automatic Control, IEEE Transactions on, • 1994
View 4 Excerpts
Highly Influenced

Active tails enhance arboreal acrobatics in geckos.

Proceedings of the National Academy of Sciences of the United States of America • 2008
View 1 Excerpt

Climbing with snake-like robots

M. H. Yim, S. B. Homans, K. D Roufas
In IFAC Workshop on Mobile Robot Technology, Jejudo, • 2001
View 1 Excerpt

Automatic model generation for modular reconfigurable robot dynamics

I-M. Chen, G. Yang
Journal of Dynamic Systems, Measurement, and Control, • 1998
View 1 Excerpt

Path Planning for Nonholonomic Systems with Drift

DriftJohn-Morten Godhavn, Andrea Balluchiy, Lara Crawfordz, Shankar Sastryz
View 1 Excerpt

Control of coupled spatial multibody systems with nonholonomic constraints

C. K. Chen
PhD thesis, • 1993
View 3 Excerpts

Similar Papers

Loading similar papers…