Rapid acceleration and braking: Inspirations from the cheetah's tail

Patel, Amir; Braae, M.

doi:10.1109/icra.2014.6906945

Cited by 39 publications

(31 citation statements)

References 20 publications

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“…In Section III we take the step of giving the Jerboa back the use of its tail to provide a 4-contact system suitable for direct comparison with RHex [1]. Traditionally in robotics, a tail is thought of as an inertial appendage, whose reaction forces can be used to rapidly reorient the body [8][9][10], provide power [11,12], or stabilize its locomotion [13,14]. There have also been some examples of robots using a passive tail to interact with the environment as an additional support [15,16].…”

Section: Introductionmentioning

confidence: 99%

Tail-assisted rigid and compliant legged leaping

Brill

Johnson

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper explores the design space of simple legged robots capable of leaping culminating in new behaviors for the Penn Jerboa, an underactuated, dynamically dexterous robot. Using a combination of formal reasoning and physical intuition, we analyze and test successively more capable leaping behaviors through successively more complicated body mechanics. The final version of this machine studied here bounds up a ledge 1.5 times its hip height and crosses a gap 2 times its body length, exceeding in this last regard the mark set by the far more mature RHex hexapod. Theoretical contributions include a non-existence proof of a useful class of leaps for a stripped-down initial version of the new machine, setting in motion the sequence of improvements leading to the final resulting performance. Conceptual contributions include a growing understanding of the Ground Reaction Complex as an effective abstraction for classifying and generating transitional contact behaviors in robotics. Disciplines Electrical and Computer Engineering | Engineering | Systems EngineeringThis conference paper is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/789 Tail-Assisted Rigid and Compliant Legged LeapingAbstract-This paper explores the design space of simple legged robots capable of leaping culminating in new behaviors for the Penn Jerboa, an underactuated, dynamically dexterous robot. Using a combination of formal reasoning and physical intuition, we analyze and test successively more capable leaping behaviors through successively more complicated body mechanics. The final version of this machine studied here bounds up a ledge 1.5 times its hip height and crosses a gap 2 times its body length, exceeding in this last regard the mark set by the far more mature RHex hexapod. Theoretical contributions include a non-existence proof of a useful class of leaps for a stripped-down initial version of the new machine, setting in motion the sequence of improvements leading to the final resulting performance. Conceptual contributions include a growing understanding of the Ground Reaction Complex as an effective abstraction for classifying and generating transitional contact behaviors in robotics.

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Section: Introductionmentioning

confidence: 99%

Tail-assisted rigid and compliant legged leaping

Brill

Johnson

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…This has motivated a large recent literature in sagittal plane reorientation [3,4]. In other areas of research, though the motivation is primarily facilitation of aggressive maneuvers [5,6], similar ideas can be found underlying. In either case, "tails"-appendages with a small mass, but large inertia, frequently physically instantiated with a point mass at the tip of a long light link-can impart large reorientation effectiveness [3].…”

Section: Introductionmentioning

confidence: 86%

“…In Section II we outline the main theoretical contribution of this paper. In II-A, we employ a modeling approach similar to [4,13] and identify a conserved quantity in the 3DOF flight dynamics (4), revealing kinematic equations of motion in the submanifold spanned by this constraint (6).…”

Section: Introductionmentioning

confidence: 99%

Frontal plane stabilization and hopping with a 2DOF tail

Wenger

Koditschek

2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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The Jerboa, a tailed bipedal robot with two hip-actuated, passive-compliant legs and a doubly actuated tail, has been shown both formally and empirically to exhibit a variety of stable hopping and running gaits in the sagittal plane. In this paper we take the first steps toward operating Jerboa as a fully spatial machine by addressing the predominant mode of destabilization away from the sagittal plane: body roll. We develop a provably stable controller for underactuated aerial stabilization of the coupled body roll and tail angles, that uses just the tail torques. We show that this controller is successful at reliably reorienting the Jerboa body in roughly 150 ms of freefall from a large set of initial conditions. This controller also enables (and appears intuitively to be crucial for) sustained empirically stable hopping in the frontal plane by virtue of its substantial robustness against destabilizing perturbations and calibration errors. The controller as well as the analysis methods developed here are applicable to any robotic platform with a similar doubly-actuated spherical tail joint. Disciplines

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“…In terms of mechanical design, all the tails resemble single body rigid pendulums. Pitch degree-of-freedom (DOF) tails have been used for dynamic applications such as mid-air attitude control [24][25][26] and aiding the acceleration of mobile robots 27 . Yaw DOF tails have been used in dynamic applications involving maneuvering (turning) 28,29 and propulsion 30 , and static applications to provide a counterbalance for stable walking of a bipedal robot 31 .…”

Section: Robotic Tailsmentioning

confidence: 99%

Discrete modular serpentine robotic tail: design, analysis and experimentation

Saab¹,

Rone²,

Ben-Tzvi³

2018

Robotica

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SUMMARYThis paper presents the design, analysis and experimentation of a Discrete Modular Serpentine Tail (DMST). The mechanism is envisioned for use as a robotic tail integrated onto mobile legged robots to provide a means, separate from the legs, to aid stabilization and maneuvering for both static and dynamic applications. The DMST is a modular two-degree-of-freedom (DOF) articulated, under-actuated mechanism, inspired by continuum and serpentine robotic structures. It is constructed from rigid links with cylindrical contoured grooves that act as pulleys to route and maintain equal displacements in antagonistic cable pairs that are connected to a multi-diameter pulley. Spatial tail curvatures are produced by adding a roll-DOF to rotate the bending plane of the planar tail curvatures. Kinematic and dynamic models of the cable-driven mechanism are developed to analyze the impact of trajectory and design parameters on the loading profiles transferred through the tail base. Experiments using a prototype are performed to validate the forward kinematic and dynamic models, determine the mechanism's accuracy and repeatability, and measure the mechanism's ability to generate inertial loading.

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Rapid acceleration and braking: Inspirations from the cheetah's tail

Cited by 39 publications

References 20 publications

Tail-assisted rigid and compliant legged leaping

Tail-assisted rigid and compliant legged leaping

Frontal plane stabilization and hopping with a 2DOF tail

Discrete modular serpentine robotic tail: design, analysis and experimentation

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