A lizard-inspired active tail enables rapid maneuvers and dynamic stabilization in a terrestrial robot

Chang-Siu, Evan; Libby, Thomas; Tomizuka, Masayoshi

doi:10.1109/iros.2011.6094658

Cited by 36 publications

(33 citation statements)

References 33 publications

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“…This mechanism involves equipping the robots with tails so as to maintain or adjust unstable air postures. Chang-Siu et al [16] add a degree of freedom (DOF) tail to a falling vehicle and successfully recover the robot pitching posture while airborne. In addition, they subsequently design a two link, active-tailed robot with two DOFs of actuation, which can roll the robot's body from an upside down posture when falling [17].…”

Section: Introductionmentioning

confidence: 99%

Jumping Robot with Initial Body Posture Adjustment and a Self-Righting Mechanism

Chen

Zhang

et al. 2016

International Journal of Advanced Robotic Systems

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To improve jumping performance, this paper presents a jumping robot with initial body posture adjustment and a self-righting mechanism. A segmental gear, stretching and triggering a spring for the storage and rapid release of energy, is used for the jumping mechanism. Pairs of front and hind supporting legs are used for the initial body posture adjustment. One end of each jumping leg is connected to a spring, while the other end is connected to the necessary wiring. In this way, the robot can correct its orientation from an upside down posture upon landing, simultaneously recovering its jumping legs and storing energy. Experimental results indicate that a jumping robot with a size of 78 mm × 43 mm × 40 mm and a weight of 30 g can jump across an obstacle with a controlled trajectory. It can also control its air pitching posture using the initial body posture adjustment. In addition, the robot can recover its body posture on the ground and store energy for a second jump. This work may provide useful data for further research into take-off posture control mechanisms.

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Section: Introductionmentioning

confidence: 99%

Jumping Robot with Initial Body Posture Adjustment and a Self-Righting Mechanism

Chen

Zhang

et al. 2016

International Journal of Advanced Robotic Systems

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“…First successful terrestrial applications are the amphibious robot RoboCrab by Krummel et al, which adapts the skills of horseshoe crabs within the surf zone, or the four-wheeled autonomous robot by ChangSiu et al, which is capable of mid-air reorienting during free fall modeled on geckoes (Hemidactylus platyurus) [1] [2].…”

Section: Introductionmentioning

confidence: 99%

Righting of Chinese Mitten Crabs (Eriocheir Sinensis) and Their Models

Riphaus

Hoffmann

Labisch

2016

APP

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Abstract. The usage of unmanned underwater vehicles for marine tasks is continuously growing and bioinspired stabilizing systems shall help them to gain and keep a stable position during work. Therefore the righting maneuver of E. sinensis has been studied. These crabs are able to perform a 180• -rotation with an angular velocity of 4.30 s −1 when falling underwater from a supine starting position. High-speed particle image velocimetry has shown, that propulsive forces with a peak of 0.021 ± 0.001 N were produced by the hind legs to initiate and stop the rotation. In a numerical multibody simulation a constant force of 0.009 N acting for 0.2 s leads to the same rotation. In order to prove this mechanism, it was implemented into a robotic system. Its mean density of 1.15 g/cm 3 deviates not more than 4% from the biological and numerical models. It can complete a 180• -turn within 1.03 ± 0.12 s with a rotational velocity of up to 4.25 s −1 .

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“…Recent efforts have extended some of these advantages to robotic systems by adding a simple, rigid actuated tail to the body frame. Adding a single degree of freedom (DOF) tail to a small (168 g) robot enabled air righting in one body length of fall, and robustness to planar perturbations that would flip over a tailless robot [3]. This idea has been scaled up nearly two orders of magnitude to the 8.8 kg legged robot XRhex with similar performance 978-1-4673-5643-5/13/$31.00 ©2013 IEEE 32 Fig.…”

Section: Introductionmentioning

confidence: 99%

A nonlinear feedback controller for aerial self-righting by a tailed robot

Chang-Siu

Libby

Brown

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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Ahstract-In this work, we propose a control scheme for attitude control of a falling, two link active tailed robot with only two degrees of freedom of actuation. We derive a simplified expression for the robot's angular momentum and invert this expression to solve for the shape velocities that drive the body's angular momentum to a desired value. By choosing a body angular velocity vector parallel to the axis of error rotation, the controller steers the robot towards its desired orientation. The proposed scheme is accomplished through feedback laws as opposed to feed forward trajectory generation, is fairly robust to model uncertainties, and is simple enough to implement on a miniature microcontroller. We verify our approach by implementing the controller on a small (175 g) robot platform, enabling rapid maneuvers approaching the spectacular capability of animals.

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A lizard-inspired active tail enables rapid maneuvers and dynamic stabilization in a terrestrial robot

Cited by 36 publications

References 33 publications

Jumping Robot with Initial Body Posture Adjustment and a Self-Righting Mechanism

Jumping Robot with Initial Body Posture Adjustment and a Self-Righting Mechanism

Righting of Chinese Mitten Crabs (Eriocheir Sinensis) and Their Models

A nonlinear feedback controller for aerial self-righting by a tailed robot

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