Saranli, UlucRizzi, Alfred A.Koditschek, Daniel E2023-05-222023-05-222004-09-012008-02-23https://repository.upenn.edu/handle/20.500.14332/33610We report on the design and analysis of a controller that can achieve dynamical self-righting of our hexapedal robot, RHex. Motivated by the initial success of an empirically tuned controller, we present a feedback controller based on a saggital plane model of the robot. We also extend this controller to develop a hybrid pumping strategy that overcomes actuator torque limitations, resulting in robust flipping behavior over a wide range of surfaces. We present simulations and experiments to validate the model and characterize the performance of the new controller.GRASPKodlablegged robotmodel-based controlcontact modelingdynamic manipulationexperimentationArticle