TY - GEN
T1 - Precise dynamic turning of a 10 cm legged robot on a low friction surface using a tail
AU - Kohut, N. J.
AU - Pullin, A. O.
AU - Haldane, D. W.
AU - Zarrouk, D.
AU - Fearing, R. S.
PY - 2013/11/14
Y1 - 2013/11/14
N2 - For maximum maneuverability, terrestrial robots need to be able to turn precisely, quickly, and with a small radius. Previous efforts at turning in legged robots primarily have used leg force or velocity modulation. We developed a palm-sized legged robot, called TAYLRoACH. The tailed robot was able to make rapid, precise turns using only the actuation of a tail appendage. By rapidly rotating the tail as the robot runs forward, the robot was able to make sudden 90° turns at 360 °s-1. Unlike other robots, this is done with almost no change in its running speed. We have also modeled the dynamics of this maneuver, to examine how features, such as tail length and mass, affect the robot's turning ability. This approach has produced turns with a radius of 0.4 body lengths at 3.2 body lengths per second running speed. Using gyro feedback and bang-bang control, we achieve an accuracy of ± 5° for a 60° turn.
AB - For maximum maneuverability, terrestrial robots need to be able to turn precisely, quickly, and with a small radius. Previous efforts at turning in legged robots primarily have used leg force or velocity modulation. We developed a palm-sized legged robot, called TAYLRoACH. The tailed robot was able to make rapid, precise turns using only the actuation of a tail appendage. By rapidly rotating the tail as the robot runs forward, the robot was able to make sudden 90° turns at 360 °s-1. Unlike other robots, this is done with almost no change in its running speed. We have also modeled the dynamics of this maneuver, to examine how features, such as tail length and mass, affect the robot's turning ability. This approach has produced turns with a radius of 0.4 body lengths at 3.2 body lengths per second running speed. Using gyro feedback and bang-bang control, we achieve an accuracy of ± 5° for a 60° turn.
UR - http://www.scopus.com/inward/record.url?scp=84887273780&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2013.6631037
DO - 10.1109/ICRA.2013.6631037
M3 - Conference contribution
AN - SCOPUS:84887273780
SN - 9781467356411
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3299
EP - 3306
BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Y2 - 6 May 2013 through 10 May 2013
ER -