Tail use in bioinspired quadrupedal locomotion
Name
813047589-MIT.pdf
Description
Full printable version
Size
8.07 MB
Format
Adobe PDF
Checksum (MD5)
cd167fc0b1a849186e5d2d4996d7bf54
Author(s)
Briggs, Randall (Randall Miller)
Advisor(s)
Sangbae Kim.
Date Issued
2012
Publisher
Massachusetts Institute of Technology
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.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 17-18).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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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.
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