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On the Conical Motion of a Two-Degree-of-Freedom Tail Inspired by the Cheetah.
- Source :
-
IEEE Transactions on Robotics . Dec2015, Vol. 31 Issue 6, p1555-1560. 6p. - Publication Year :
- 2015
-
Abstract
- An actuated tail can impart large angular impulse over short time spans, but swinging in a plane results in inevitable tail angle saturation. Cheetahs (Acinonyx jubatus) are observed swinging the tail in a cone during turns <xref ref-type="bibr" rid="ref1">[1]</xref>, and this paper develops a simplified two-degree-of-freedom (pitch and roll) rigid tail model to investigate this motion. Trajectory optimization and experiments on a robotic platform confirm the observed cone motion as a useful solution to roll stabilization. These results are relevant to the understanding of tail motions in biomechanics and bioinspired tailed robots. [ABSTRACT FROM PUBLISHER]
- Subjects :
- *ROBOTS
*CHEETAH
*TAILS
*DEGREES of freedom
*ROBOTICS
Subjects
Details
- Language :
- English
- ISSN :
- 15523098
- Volume :
- 31
- Issue :
- 6
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Robotics
- Publication Type :
- Academic Journal
- Accession number :
- 111423997
- Full Text :
- https://doi.org/10.1109/TRO.2015.2495004