{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:57:52Z","timestamp":1777715872024,"version":"3.51.4"},"reference-count":33,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2009,5,20]],"date-time":"2009-05-20T00:00:00Z","timestamp":1242777600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2009,6]]},"abstract":"<jats:p>Reconfigurable modular robots have the ability to use different gaits and configurations to perform various tasks. A rolling gait is the fastest currently implemented gait available for traversal over level ground and shows dramatic improvements in efficiency. In this work, we analyze and implement a sensor-based feedback controller to achieve dynamic rolling for a loop robot. The robot senses its position relative to the ground and changes its shape as it rolls. This shape is such that its center of gravity is maintained to be in front of its contact point with the ground, so in effect the robot is continuously falling and thus accelerates forward. Using simulation and experimental results, we show how the desired shape can be varied to achieve higher terminal velocities. The highest velocity achieved in this work is 26 module lengths per second (1.6 m\/s) which is believed to be the fastest gait yet implemented for an untethered modular robot. One of the major findings is that more elongated shapes achieve higher terminal velocities than rounder shapes. We demonstrate that this trend holds going up inclines as well as down. We show that rounder shapes have lower specific resistance and are thus more energy efficient. The control scheme is scalable to an arbitrary number of modules, shown here using eight to 14 modules.<\/jats:p>","DOI":"10.1177\/0278364908099463","type":"journal-article","created":{"date-parts":[[2009,5,20]],"date-time":"2009-05-20T12:40:27Z","timestamp":1242823227000},"page":"758-773","source":"Crossref","is-referenced-by-count":95,"title":["Dynamic Rolling for a Modular Loop Robot"],"prefix":"10.1177","volume":"28","author":[{"given":"Jimmy","family":"Sastra","sequence":"first","affiliation":[{"name":"GRASP Laboratory University of Pennsylvania Philadelphia, Pennsylvania,                         USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sachin","family":"Chitta","sequence":"additional","affiliation":[{"name":"GRASP Laboratory University of Pennsylvania Philadelphia, Pennsylvania,                         USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mark","family":"Yim","sequence":"additional","affiliation":[{"name":"GRASP Laboratory University of Pennsylvania Philadelphia, Pennsylvania,                         USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2009,5,20]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/70.897794"},{"key":"atypb2","volume-title":"The 2005 DARPA Grand Challenge: The Great Robot Race","author":"Buehler, M.","year":"2005"},{"key":"atypb3","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'02)","author":"Butler, Z."},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008985810481"},{"key":"atypb5","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Chirikjian, G.S."},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1109\/70.294209"},{"key":"atypb7","volume-title":"Proceedings of the IEEE Conference on Robotics and Automation (ICRA)","author":"Chitta, S."},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067561"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1126\/science.1107799"},{"key":"atypb10","volume-title":"Proceedings of the Society of Photo-Optical Instrumentation Engineers","author":"Gomez-Ibanez, D."},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1109\/3477.604106"},{"key":"atypb12","volume-title":"Proceedings of the 4th IEEE International Workshop on Advanced Motion Control, AMC '96","author":"Halme, A."},{"key":"atypb13","volume-title":"Proceedings of the 2001 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS200)","author":"Kamimura, A."},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2005.848299"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906069150"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1097\/00003677-200504000-00006"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1109\/70.988972"},{"key":"atypb18","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Matsuda, T."},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900206"},{"key":"atypb20","volume-title":"Proceedings of the 1999 Conference on Decision and Control","author":"Mukherjee, R."},{"key":"atypb21","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907089350"},{"key":"atypb22","volume-title":"Proceedings of CLAWAR, Vol. 3","author":"Phipps, C.C."},{"key":"atypb23","doi-asserted-by":"crossref","unstructured":"Playter, R.                 ,                      Buehler, M.                  and                      Raibert, M.                  (2006). Bigdog. Unmanned Systems Technology VIII, Vol.                     6231(1) Gerhart, G. R.                 ,                      Shoemaker, C. M.                  and                      Gage, D. W.                  (eds). SPIE, p. 623020. 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