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"Tail-assisted pitch control in lizards, robots and dinosaurs"
by Thomas Libby, Talia Y. Moore, Evan Chang-Siu, Deborah Li, Daniel J. Cohen, Ardian Jusufi & Robert J. Full
January 4, 2012
Designers:
Martin Braae
Amir Patel
https://youtu.be/wgVnQzvUrFQ
Rapid Turning at High-Speed: Inspirations from the Cheetah's Tail
Published on Sep 16, 2013
Quote:
Inspired by the Cheetah, we present a novel tail control system for manoeuvring terrestrial robots at high speed. We show that by rapidly swinging the tail, our robot is capable of turning at much higher speeds than a tail-less version. A. Patel and M. Braae, "Rapid Turning at High-Speed: Inspirations from the Cheetah's Tail," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, 2013.
https://youtu.be/YTND_TgBYIk
Rapid Acceleration and Braking: Inspirations from the Cheetah's Tail
Published on May 26, 2014
Quote:
Stimulated by observations of cheetahs accelerating, a novel tail controller system for rapid acceleration and braking is presented. To understand the targeted behaviour of a cheetah performing a longitudinal manoeuvre and the effects an actuated tail has, a simple mathematical template was developed. Subsequently feedback controllers were designed based on our hypothesis. Finally, the control system was experimentally tested on a reduced order robot model which increased its manoeuvrability considerably.
Article "IROS 2013: Robot Cars Get Hyper-Maneuverable With Actuated Tails"
by Evan Ackerman
November 11, 2013
https://youtu.be/m6PwDi-iBFM
Tayobot: tail-actuated yaw orientation robot
Published on Nov 6, 2015
Quote:
This video presents an extension of the research conducted by A Patel and C Fisher in the area of bio-inspired, aerial orientation techniques for robotic platforms. Inspired by the kangaroo rat, and how it uses its tail to aerially orientate itself in the yaw plane, this project presents a robot capable of using a tail to perform a 360-degree yaw rotation stunt.
The system was dynamically modelled using the Lagrange method, and subsequently simulations were performed to ensure optimal robot design. A control system was design for the robot, which exhibited robust, high levels of performance – achieving the stunt repeatedly in approximately 0.4 s.
This video documents the system’s performance in both in testing and on a jump. This research was conducted by J Perry and A Patel.