Paper Info
Title
On Designing An Active Tail For Legged Robots: Simplifying Control Via Decoupling Of Control Objectives
Abstract
Purpose - The purpose of this paper is to explore the possible roles of active tails for steady-state legged locomotion, focusing on a design principle which simplifies control by decoupling different control objectives.Design/methodology/approach - A series of simple models are proposed which capture the dynamics of an idealized running system with an active tail. These models suggest that the overall control problem can be simplified and effectively decoupled via a proper tail design. This design principle is further explored in simulation using trajectory optimization. The results are then validated in hardware using a one degree-of-freedom active tail mounted on the quadruped robot Cheetah-Cub.Findings - The results of this paper show that an active tail can greatly improve both forward velocity and reduce body-pitch per stride while adding minimal complexity. Further, the results validate the design principle of using long, light tails compared to shorter heavier ones.Originality/value - This paper builds on previous results, with a new focus on steady-state locomotion and in particular deals directly with stance phase dynamics. A novel design principle for tails is proposed and validated.
Year
DOI
Venue
2016
10.1108/IR-10-2015-0190
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
Keywords
Field
DocType
Control, Mobile robots, Biomimetics, Robot design, Legged locomotion, Tail
Phase dynamics,STRIDE,Trajectory optimization,Simulation,Control theory,Biomimetics,Decoupling (cosmology),Control engineering,Forward velocity,Engineering,Robot,Mobile robot
Journal
Volume
Issue
ISSN
43
3
0143-991X
Citations 
PageRank 
References 
3
0.46
11
Authors
5
Name
Order
Citations
PageRank
Steve W. Heim141.49
Mostafa Ajallooeian21257.73
Peter Eckert3132.80
Massimo Vespignani413911.02
Auke Jan Ijspeert53546282.93