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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.<\/jats:p>","DOI":"10.1177\/0278364904045594","type":"journal-article","created":{"date-parts":[[2004,9,6]],"date-time":"2004-09-06T19:08:30Z","timestamp":1094497710000},"page":"903-918","source":"Crossref","is-referenced-by-count":68,"title":["Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot"],"prefix":"10.1177","volume":"23","author":[{"given":"Uluc","family":"Saranli","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alfred A.","family":"Rizzi","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15223, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Daniel E.","family":"Koditschek","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computer Science, The University                         of Michigan, Ann Arbor, MI 48109-2110, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2004,9,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1023\/A:1012426720699"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1145\/127719.122722"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1177\/027836499901800201"},{"key":"atypb4","unstructured":"Chatterjee, A. 1997.\n                      Rigid Body Collisions: Some General Considerations, New Collision Laws, and Some Experimental Data\n                      . 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