2026-09-19T02:39:29Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/744912022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Sangbae Kim.
Briggs, Randall (Randall Miller)
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2012-10-26T19:01:30Z
2012-10-26T19:01:30Z
2012
2012
http://hdl.handle.net/1721.1/74491
813047589
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 17-18).
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.
by Randall Briggs.
S.B.
41 p.
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Tail use in bioinspired quadrupedal locomotion
Thesis
application/pdf
Publication
unknown
unknown
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