TY - GEN
T1 - Effect of inertial tail on yaw rate of 45 gram legged robot
AU - Kohut, N. J.
AU - Haldane, D. W.
AU - Zarrouk, D.
AU - Fearing, R. S.
PY - 2012/1/1
Y1 - 2012/1/1
N2 - Small legged robots have unique potential for widespread application in search and rescue, hazardous exploration, battlefield reconnaissance, and almost any remote, inaccessible or dangerous situation not reachable by humans. Dynamic running robots have used a variety of steering means, including differential velocity drive [1][2] and actively changing leg kinematics [3][4]. Previous robots have also used tails for various functions, such as turning in an aquatic environment [5], active pitch control [6][7], or stabilization during climbing [8]. The robot discussed here uses a tail to produce a turn on rough or flat ground. This paper examines the way in which this is done, through the use of angular momentum exchange and internal impacts that generate a turning impulse.
AB - Small legged robots have unique potential for widespread application in search and rescue, hazardous exploration, battlefield reconnaissance, and almost any remote, inaccessible or dangerous situation not reachable by humans. Dynamic running robots have used a variety of steering means, including differential velocity drive [1][2] and actively changing leg kinematics [3][4]. Previous robots have also used tails for various functions, such as turning in an aquatic environment [5], active pitch control [6][7], or stabilization during climbing [8]. The robot discussed here uses a tail to produce a turn on rough or flat ground. This paper examines the way in which this is done, through the use of angular momentum exchange and internal impacts that generate a turning impulse.
UR - http://www.scopus.com/inward/record.url?scp=84889666410&partnerID=8YFLogxK
U2 - 10.1142/9789814415958_0023
DO - 10.1142/9789814415958_0023
M3 - Conference contribution
AN - SCOPUS:84889666410
SN - 9789814415941
T3 - Adaptive Mobile Robotics - Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012
SP - 157
EP - 164
BT - Adaptive Mobile Robotics - Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012
PB - World Scientific Publishing Co. Pte Ltd
T2 - 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012
Y2 - 23 July 2012 through 26 July 2012
ER -