Rolling stability enhancement via balancing tail for a water-running robot

Kim, Hyun Gyu; Lee, Dong Gyu; Seo, TaeWon

doi:10.1016/s1672-6529(14)60131-1

Cited by 15 publications

(7 citation statements)

References 19 publications

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“…However, only a few gecko-inspired robots with undulating tails exist. Undulating tails are commonly used in amphibious robots inspired by lizards and salamanders (Nirody et al (2018); Karakasiliotis and Ijspeert (2009); Kim et al (2015); Figure 1G). Typically, each robot implements a specific tail function.…”

Section: Discussionmentioning

confidence: 99%

The Roles and Comparison of Rigid and Soft Tails in Gecko-Inspired Climbing Robots: A Mini-Review

Zang

Dai

Manoonpong

2022

Front. Bioeng. Biotechnol.

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Geckos use millions of dry bristles on their toes to adhere to and rapidly run up walls and across ceilings. This has inspired the successful development of dry adhesive materials and their application to climbing robots. The tails of geckos also help realize adaptive and robust climbing behavior. Existing climbing robots with gecko-inspired tails have demonstrated improved locomotion performance. However, few studies have focused on the role of a robot’s gecko-inspired tail when climbing a sloped surface and its effects on the overall locomotion performance. Thus, this paper reviews and analyzes the roles of the tails of geckos and robots in terms of their climbing performances and compares the advantages and disadvantages of robots’ tails made of rigid and soft materials. This review could assist roboticists decide whether a tail is required for their robots and which materials and motion types to use for the tail in order to fulfill their desired functions and even allow the robots to adapt to different environments and tasks.

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Section: Discussionmentioning

confidence: 99%

The Roles and Comparison of Rigid and Soft Tails in Gecko-Inspired Climbing Robots: A Mini-Review

Zang

Dai

Manoonpong

2022

Front. Bioeng. Biotechnol.

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“…Bioinspired Robots Locomoting at the Air-Water Interface A bipedal water-running robot inspired by highly specialized basilisk lizards would require high power, many degrees of freedom, and active stabilization [32][33][34][35][36][37][38], so existing waterrunning machines are mostly quadrupedal. Interfacial locomotion by geckos suggests that by harnessing semi-planing, high speeds can be attained even when the body contacts the surface.…”

Section: Undulatory Propulsive Forcesmentioning

confidence: 99%

“…Interfacial locomotion by geckos suggests that by harnessing semi-planing, high speeds can be attained even when the body contacts the surface. Adding an undulating tail to these devices might not only improve stability [37], but also improve forward velocity. Superhydrophobic materials could significantly reduce drag [39][40][41].…”

Section: Undulatory Propulsive Forcesmentioning

confidence: 99%

Geckos Race Across the Water’s Surface Using Multiple Mechanisms

et al. 2018

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“…Proof. First, observe from (11) and (13) that B T [ 0 τ ] ≡ τ , and so from (14), e T [ 0 τ ] =ē T τ . Define the energy function where the first summand will disappear sinceṀ − 2C is skew symmetric [16].…”

Section: Velocity Target As Reference Dynamicsmentioning

confidence: 99%

“…For some legged robots, small amounts of steady state roll have been shown to be beneficial [10]. However, based on experimental evidence, large roll instabilities are an impediment to 3D operation of the Jerboa and other robots [11] by reducing gait effectiveness or causing total failure. We seek to mitigate these instabilities by implementing a provably correct controller for this system and anticipate that the controller and analysis developed here will be useful for any robotic platform with a spherical 2DOF tail (e.g.…”

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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Rolling stability enhancement via balancing tail for a water-running robot

Cited by 15 publications

References 19 publications

The Roles and Comparison of Rigid and Soft Tails in Gecko-Inspired Climbing Robots: A Mini-Review

The Roles and Comparison of Rigid and Soft Tails in Gecko-Inspired Climbing Robots: A Mini-Review

Geckos Race Across the Water’s Surface Using Multiple Mechanisms

Frontal plane stabilization and hopping with a 2DOF tail

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