Design and Integration of a Novel Spatial Articulated Robotic Tail

Saab, Wael; Rone, William S.; Kumar, Anil; Ben-Tzvi, Pinhas

doi:10.1109/tmech.2019.2897885

Cited by 28 publications

(18 citation statements)

References 29 publications

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“…Detailed formulations for the dynamics of the R3RT can be found in Ref. [7]. Figure 3 illustrates the controller used to operate the tailedquadruped.…”

Section: Tailmentioning

confidence: 99%

“…Figure 1 illustrates the tailed-quadruped system that is considered in this analysis. A quadruped constructed from four robotic modular leg (RMLeg) [6] units is used as the legged robot subsystem, and the roll-revolute-revolute robotic tail (R3RT) is used as the articulated tail subsystem [7]. Each RMLeg is a 2DOF planar mechanism that is used to generate propulsion; the tail is used to generate the loading to provide maneuverability and enhance the quadruped's inherent stability.…”

Section: Introductionmentioning

confidence: 99%

“…Articulated robot tail structures have also been studied. Three approaches for this class of tail include the roll-revolute-revolute robotic tail [7], the universal-spatial robotic tail [19,20], and the discrete modular serpentine tail [21]. In addition to these novel design concepts, preliminary studies have been presented into the control of these structures to realize maneuvering and stabilization behaviors [22,23].…”

Section: Introductionmentioning

confidence: 99%

“…Of particular importance are results from Ref. [7] which demonstrate the significant improvements serpentine tails offer over pendulum-like tails in terms of generating loading which positively impacts the system dynamics.…”

Section: Introductionmentioning

confidence: 99%

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Controller Design, Analysis, and Experimental Validation of a Robotic Serpentine Tail to Maneuver and Stabilize a Quadrupedal Robot

Rone

Saab²,

Kumar³

et al. 2019

Journal of Dynamic Systems, Measurement, and Control

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This paper analyzes how a multisegment, articulated serpentine tail can enhance the maneuvering and stability of a quadrupedal robot. A persistent challenge in legged robots is the need to account for propulsion, maneuvering, and stabilization considerations when generating control inputs for multidegree-of-freedom spatial legs. Looking to nature, many animals offset some of this required functionality to their tails to reduce the required action by their legs. By including a robotic tail on-board a legged robot, the gravitational and inertial loading of the tail can be utilized to provide for the robot's maneuverability and stability, while the legs primarily provide the robot's propulsion. System designs for the articulated serpentine tail and quadrupedal platform are presented, along with the dynamic models used to represent these systems. Outer-loop controllers that implement the desired maneuvering and stabilizing behaviors are discussed, along with an inner-loop controller that maps the desired tail trajectory into motor torque commands for the tail. Case studies showing the tail's ability to modify yaw-angle heading during locomotion (maneuvering) and to reject a destabilizing external disturbance in the roll direction (stabilization) are considered. Simulation results utilizing the tail's dynamic model and experimental results utilizing the tail prototype, in conjunction with the simulated quadrupedal platform, are generated. Successful maneuvering and stabilization are demonstrated by the simulated results and validated through experimentation.

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“…Detailed formulations for the dynamics of the R3RT can be found in Ref. [7]. Figure 3 illustrates the controller used to operate the tailedquadruped.…”

Section: Tailmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Controller Design, Analysis, and Experimental Validation of a Robotic Serpentine Tail to Maneuver and Stabilize a Quadrupedal Robot

Rone

Saab²,

Kumar³

et al. 2019

Journal of Dynamic Systems, Measurement, and Control

Self Cite

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show abstract

“…Because of the symmetric placement of the spring anchors with respect to the links' vertical planes and the 90° spacing of the spring anchors, these coefficients are equal and opposite, such that A i,12 = K θ and A i,22 = −K θ . These calculated coefficients lead to the simplified expressions for calculating φ i and θ i shown in equation (7).…”

Section: Second the Pitch Angle Coefficients ( A I11 Andmentioning

confidence: 99%

Maneuvering and stabilization control of a bipedal robot with a universal-spatial robotic tail

Rone

Liu

Ben-Tzvi³

2018

Bioinspir. Biomim.

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This paper analyzes control methodologies to implement maneuvering and stabilization behaviors in a bipedal robot using a bioinspired robotic tail. Looking to nature, numerous animals augment their legs' functionality using a tail nature, numerous animals augment their legs' functionality using a tail to assist with both maneuvering and stabilization; looking to the robotics literature, previous research primarily focuses on single-mass, pendulum-like tails designed to perform a specific task. The overarching goal of this research is to study how bioinspired tail designs may be used in conjunction with low-complexity leg designs to achieve high-performance behaviors. In pursuit of this goal, this paper connects the serpentine universal-spatial robotic tail (USRT) with a biped consisting of a pair of Robotic Modular Legs to study the outer-and inner-loop control considerations necessary to achieve yaw-angle turning and stable leg lifting. The design and modeling of the tail and leg subsystems are presented, along with considerations for sensing the USRT's configuration in real-time. In addition, two inner-loop controllers that map desired tail trajectories into actuation commands are presented: a prescribed velocity approach that only utilizes motor feedback, and a prescribed torque approach that incorporates both feedforward consideration of the tail dynamics and feedback consideration from the tail sensing. Two outer-loop controllersone for yaw-angle steering (maneuvering), and one for roll-angle disturbance rejection when lifting a foot (stabilization)-are also defined. Case studies including simulation and experimental results are used to validate the outer-loop control approaches.

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Active Tail Configurations for Enhanced Body Reorientation Performance

Kim

Woodward

Sitti

2023

Advanced Intelligent Systems

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During dynamic locomotion, animals employ tails to help control the orientation of their bodies. This type of control is pervasive throughout locomotion strategies. Roboticists endeavor to close the gap between robots and their biological counterparts by developing various active tails. This work explores these active tails and establishes a design strategy to enhance reorientation performances. A dynamic model to describe the transmitted torques at the body from the single‐axis active tail is suggested. The design parameters, which define the transmitted torques, are analyzed through the dynamic model to understand their contributions. The effects of aerodynamics on the active tail's performance are also explored. The active tails are categorized according to inertial tail designs (unbalanced distal mass or mass‐balanced about a rotating point), aerodynamic configurations (inertial, aerodynamic, aerodynamic with external airflow), and operating strategies (partial oscillation, symmetric oscillation, asymmetric‐oscillation or full rotations). The reorientation performance of 24 possible active tail combinations is explored and design strategies to select the proper combinations according to the target system's conditions are provided. This work can help in guiding the advanced active tail designs for future agile mobile robots.

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Design and Integration of a Novel Spatial Articulated Robotic Tail

Cited by 28 publications

References 29 publications

Controller Design, Analysis, and Experimental Validation of a Robotic Serpentine Tail to Maneuver and Stabilize a Quadrupedal Robot

Controller Design, Analysis, and Experimental Validation of a Robotic Serpentine Tail to Maneuver and Stabilize a Quadrupedal Robot

Maneuvering and stabilization control of a bipedal robot with a universal-spatial robotic tail

Active Tail Configurations for Enhanced Body Reorientation Performance

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