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. Department of Mechanical Engineering | |
dc.identifier.oclc | 813047589 | en_US |