| Title | Tails in Biomimetic Design: Analysis, Simulation, and Experiment |
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| Publication Type | Conference Paper |
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| Year of Publication | 2012 |
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| Date Published | 11/2012 |
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| Authors | Briggs, R., J. Lee, M. Haberland, and S. Kim |
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| Conference Name | Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on |
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| Conference Location | Vilamoura, Portugal |
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| Publisher | IEEE |
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| ISBN Number | 978-1-4673-1737-5 |
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| Refereed Designation | Refereed |
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| 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. |
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| DOI | 10.1109/IROS.2012.6386240 |
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| URL | http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6386240&tag=1 |
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