Abstract:
Animals use tails to improve locomotion performance; here we assess how the biomimetic MIT Cheetah robot can do the same. Analysis proves that for a given power and weigh...Show MoreMetadata
Abstract:
Animals use tails to improve locomotion performance; here we assess how the biomimetic MIT Cheetah robot can do the same. Analysis proves that for a given power and weight, tails can provide greater average torque than reaction wheels for the short times of interest in high speed running. A simple tail controller enables the cheetah to perform aerial orientation maneuvers in simulation. The MIT Cheetah robot's tail rejects an impulsive disturbance from a ‘wrecking ball’ in experiments. This study demonstrates that a tail will help the MIT Cheetah achieve its goal of 30mph locomotion by 2014.
Date of Conference: 07-12 October 2012
Date Added to IEEE Xplore: 20 December 2012
ISBN Information: