Rapid turning at high-speed: Inspirations from the cheetah's tail

Patel, Amir; Braae, M.

doi:10.1109/iros.2013.6697154

Cited by 60 publications

(50 citation statements)

References 16 publications

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“…While the present analysis focuses on purely aerial maneuvers, inertial appendages also show promise in a variety of terrestrial tasks, stabilizing or actuating turns [4,6], or stabilizing pitch over obstacles [2]. Likewise, inertial appendages have utility beyond the sagittal plane for aerial maneuvers, with out-of-plane appendage swings capable of effecting body rotations in yaw and roll as well as pitch, e.g.…”

Section: Discussionmentioning

confidence: 99%

“…1(a), a robot with an active tail which enabled disturbance regulation [17], air-righting, and traversing rough terrain [2]. Since Tailbot, there has been an explosion in the number of robotic tails for reorientation [3][4][5][6]24] and stabilization [7-9, 25, 26] in both aerial and terrestrial domains. Non-inertial tails have also seen continued interest with tails that affect the body through substrate interaction [27][28][29] and aerodynamics [30,31].…”

Section: A Prior Workmentioning

confidence: 99%

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Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation

et al. 2016

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This paper develops a comparative framework for the design of actuated inertial appendages for planar, aerial reorientation. We define the Inertial Reorientation template, the simplest model of this behavior, and leverage its linear dynamics to reveal the design constraints linking a task with the body designs capable of completing it. As practicable inertial appendage designs lead to morphology that is generally more complex, we advance a notion of "anchoring" whereby a judicious choice of physical design in concert with an appropriate control policy yields a system whose closed loop dynamics are sufficiently captured by the template as to permit all further design to take place in its far simpler parameter space. This approach is effective and accurate over the diverse design spaces afforded by existing platforms, enabling performance comparison through the shared task space. We analyze examples from the literature and find advantages to each body type, but conclude that tails provide the highest potential performance for reasonable designs. Thus motivated, we build a physical example by retrofitting a tail to a RHex robot and present empirical evidence of its efficacy.

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Section: Discussionmentioning

confidence: 99%

Section: A Prior Workmentioning

confidence: 99%

Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation

et al. 2016

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“…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 . Spatial, single body rigid pendulum tails have been proposed that greatly increase workspace and provide multi-axis enhanced performance capabilities at the cost of increased design complexity and control.…”

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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“…Based on the properties of the actuation transmission mechanism in the actuation module between the cable spool and motor, these cable velocities can be mapped into motor speed commands. This inner-loop control approach, which was used in [15], does not require sensing data from the tail; it only requires the incremental encoder feedback from the individual motors, which is then used to estimate the motor speed. Its primary benefit is its simplicityconsideration of the tail dynamics is not needed.…”

Section: Tail Inner-loop Controlmentioning

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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Rapid turning at high-speed: Inspirations from the cheetah's tail

Cited by 60 publications

References 16 publications

Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation

Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation

Discrete modular serpentine robotic tail: design, analysis and experimentation

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

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