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In this project I developed controllers for a continuous rolling ellipse and mapped these controllers to a discrete rolling polygon. The controllers were implemented in simulation and on a modular robot system called the CKBot. A paper on this work was presented at ICRA 2009. PDF

Here are some videos of the controllers in action in simulation and on the CKBot:

Here is a video an implementation on a simple robot made of a flexible piece of steel and a single linear actuator:

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Page last modified on June 11, 2010, at 06:15 PM