On the Conical Motion of a Two-Degree-of-Freedom Tail Inspired by the Cheetah

Patel, Amir; Boje, Edward

doi:10.1109/tro.2015.2495004

Cited by 33 publications

(21 citation statements)

References 13 publications

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“…II) can be generalized to other high DoF platforms, ultimately generalizing the precision of the morphological reduction analysis introduced for a 1 DoF template in [23]. Even though the Jerboa is a specialized machine, inertial coupling between degrees of freedom is used for control in a variety of robotic platforms [23,34], and an analytical result as in Sec. II-B.5 may help the control designer tune the effectiveness of this sort of coupling at design-or control-time.…”

Section: Discussionmentioning

confidence: 99%

Analytically-Guided Design of a Tailed Bipedal Hopping Robot

Shamsah¹,

Koditschek

2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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We present the first fully spatial hopping gait of a 12 DoF tailed biped driven by only 4 actuators. The control of this physical machine is built up from parallel compositions of controllers for progressively higher DoF extensions of a simple 2 DoF, 1 actuator template. These template dynamics are still not themselves integrable, but a new hybrid averaging analysis yields a conjectured closed form representation of the approximate hopping limit cycle as a function of its physical and control parameters. The resulting insight into the role of the machine's kinematic and dynamical design choices affords a redesign leading to the newly achieved behavior. Disciplines

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Section: Discussionmentioning

confidence: 99%

Analytically-Guided Design of a Tailed Bipedal Hopping Robot

Shamsah¹,

Koditschek

2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…All these mammals have remarkably similar limb morphology; in addition, they have very long tails, used to maintain stability [163,165,262,263]. The importance of tail is also mentioned in high speed locomotion of cheetahs, that includes rapid acceleration, rapid break, rapid turning, and balancing [264][265][266][267][268][269]. In addition to the use of body twisting for balancing [247][248][249][250], cats also use the tail to balance themselves and maintain stability under perturbations [270].…”

Section: Aerial Righting By Way Of Inertiamentioning

confidence: 99%

Jumping Locomotion Strategies: From Animals to Bioinspired Robots

Mo,

Ge,

Miraglia

et al. 2020

Applied Sciences

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Jumping is a locomotion strategy widely evolved in both invertebrates and vertebrates. In addition to terrestrial animals, several aquatic animals are also able to jump in their specific environments. In this paper, the state of the art of jumping robots has been systematically analyzed, based on their biological model, including invertebrates (e.g., jumping spiders, locusts, fleas, crickets, cockroaches, froghoppers and leafhoppers), vertebrates (e.g., frogs, galagoes, kangaroos, humans, dogs), as well as aquatic animals (e.g., both invertebrates and vertebrates, such as crabs, water-striders, and dolphins). The strategies adopted by animals and robots to control the jump (e.g., take-off angle, take-off direction, take-off velocity and take-off stability), aerial righting, land buffering, and resetting are concluded and compared. Based on this, the developmental trends of bioinspired jumping robots are predicted.

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“…Both simulation and experimental results of this work indicated that the addition of the tail enabled the robot to perform up to a 40% increase in lateral acceleration, and a 50% increase in forward acceleration, without toppling over in comparison, to the tail-less version; therefore, enabling highspeed maneuverability. The authors then designed a new actuation unit to combine both pitch and yaw tail motions to construct a two-DOF spatial tail 23 to better approximate the conical motion of tail usage of the cheetah and impart a roll torque, about a single axis, on the Dima robot; however, in terms of functionality, the goal was to enhance turning of the robot about a single axis in the lateral direction. A tail controller was then developed to generate tail motions that constrained the tail workspace to a cone of specified width.…”

Section: Systemmentioning

confidence: 99%

Robotic tails: a state-of-the-art review

Saab¹,

Rone²,

Ben-Tzvi³

2018

Robotica

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SUMMARYThis paper reviews the state-of-the-art in robotic tails intended for inertial adjustment applications on-board mobile robots. Inspired by biological tails observed in nature, robotic tails provide a separate means to enhance stabilization, and maneuverability from the mobile robot's main form of locomotion, such as legs or wheels. Research over the past decade has primarily focused on implementing single-body rigid pendulum-like tail mechanisms to demonstrate inertial adjustment capabilities on-board walking, jumping and wheeled mobile robots. Recently, there have been increased efforts aimed at leveraging the benefits of both articulated and continuum tail mechanism designs to enhance inertial adjustment capabilities and further emulate the structure and functionalities of tail usage found in nature. This paper discusses relevant research in design, modeling, analysis and implementation of robotic tails onto mobile robots, and highlight how this work is being used to build robotic systems with enhanced performance capabilities. The goal of this article is to outline progress and identify key challenges that lay ahead.

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On the Conical Motion of a Two-Degree-of-Freedom Tail Inspired by the Cheetah

Cited by 33 publications

References 13 publications

Analytically-Guided Design of a Tailed Bipedal Hopping Robot

Analytically-Guided Design of a Tailed Bipedal Hopping Robot

Jumping Locomotion Strategies: From Animals to Bioinspired Robots

Robotic tails: a state-of-the-art review

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