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Tail use in bioinspired quadrupedal locomotion

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dc.contributor.advisor Sangbae Kim. en_US
dc.contributor.author Briggs, Randall (Randall Miller) en_US
dc.contributor.other Massachusetts Institute of Technology. Dept. of Mechanical Engineering. en_US
dc.date.accessioned 2012-10-26T19:01:30Z
dc.date.available 2012-10-26T19:01:30Z
dc.date.copyright 2012 en_US
dc.date.issued 2012 en_US
dc.identifier.uri http://hdl.handle.net/1721.1/74491
dc.description Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012. en_US
dc.description Cataloged from PDF version of thesis. en_US
dc.description Includes bibliographical references (p. 17-18). en_US
dc.description.abstract Tails are seen in nature to be used in an amazing number of different applications. Many of these applications seen in nature may be of use to bioinspired roboticists in the future. I have provided a brief review of tail use as seen in nature. An experiment was performed using the MIT Cheetah to investigate the usefulness of tails in one particular instance. The Cheetah was set to stand while a large, standardized disturbance was introduced by means of a clay "wrecking ball." Two cases were observed: one where the tail was actively stationary and another where the tail was swung in order to counteract the disturbance. The actively swung tail was seen to keep the body in the stable region longer than the stationary tail, thus providing the robot additional time to correct for the disturbance with the next foot fall. en_US
dc.description.statementofresponsibility by Randall Briggs. en_US
dc.format.extent 41 p. en_US
dc.language.iso eng en_US
dc.publisher Massachusetts Institute of Technology en_US
dc.rights M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. en_US
dc.rights.uri http://dspace.mit.edu/handle/1721.1/7582 en_US
dc.subject Mechanical Engineering. en_US
dc.title Tail use in bioinspired quadrupedal locomotion en_US
dc.type Thesis en_US
dc.description.degree S.B. en_US
dc.contributor.department Massachusetts Institute of Technology. Dept. of Mechanical Engineering. en_US
dc.identifier.oclc 813047589 en_US


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