Impulse Based Dynamic Rolling in the Rolling Disk Biped

This paper explores the use of pushing off the ground to produce dynamic rolling for the Rolling Disk Biped (RDB). An open loop controller is used that periodically opens joints to kick off the ground to begin and continue rolling motions. This impulse based method of propulsion is suited to robots that have limited control of the center of gravity, or to robots that do not always form a continuous rolling surface. Hybrid mobility robots can use this method of rolling in order to utilize multiple modes of locomotion such as rolling and walking. Both simulations and experiments show that the use of impulse based rolling in the RDB can initiate rolling from a variety of initial conditions and can produce continuous rolling three times faster than center of gravity based rolling. The general impulse method presented can be used for some existing robots and will help in creating new hybrid mobility robots.