ICRA'09 Paper Abstract


Paper FrA7.1

Mellinger, Daniel (University of Pennsylvania), Kumar, Vijay (University of Pennsylvania), Yim, Mark (University of Pennsylvania)

Control of Locomotion with Shape-Changing Wheels

Scheduled for presentation during the Regular Sessions "Dynamics" (FrA7), Friday, May 15, 2009, 08:30−08:50, Room: 405

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Dynamics


We present a novel approach to controlling the locomotion of a wheel by changing its shape, leading to applications to the synthesis and closed-loop control of gaits for modular robots. A dynamic model of a planar, continuous deformable ellipse in contact with a ground surface is derived. We present two alternative approaches to controlling this system and a method for mapping the gaits to a discrete rolling polygon. Mathematical models and dynamic simulation of the continuous approximation and the discrete $n$-body system, and experimental results obtained from a physical modular robot system illustrate the accuracy of the dynamic models and the validity of the approach.



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