Recent Changes - Search:

edit SideBar

DynamicRolling

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:

Edit - History - Print - Recent Changes - Search
Page last modified on June 11, 2010, at 06:15 PM