TY - GEN
T1 - Dynamic modeling and analysis of pitch motion of a basilisk lizard inspired quadruped robot running on water
AU - Park, Hyun Soo
AU - Floyd, Steven
AU - Sitti, Metin
PY - 2009
Y1 - 2009
N2 - A quadrupedal robot inspired by the basilisk lizard was developed and modeled with a 3-D real time simulation. Due to the robot's geometry, leg motion, and water interactions, the net pitch moment at the center of mass is not zero making pitch motion unstable. This paper introduces two types of tails, passive and active, to stabilize pitch motion and analyzes the advantages and disadvantages of each. It is shown in simulation that a purely passive tail can stabilize pitch motion and lead to a steady state robot pitch angle in the absence of disturbances. It is further shown that an active tail can compensate for disturbances and correct any drift in therobot body pitch angle due to changes in robot running speed.
AB - A quadrupedal robot inspired by the basilisk lizard was developed and modeled with a 3-D real time simulation. Due to the robot's geometry, leg motion, and water interactions, the net pitch moment at the center of mass is not zero making pitch motion unstable. This paper introduces two types of tails, passive and active, to stabilize pitch motion and analyzes the advantages and disadvantages of each. It is shown in simulation that a purely passive tail can stabilize pitch motion and lead to a steady state robot pitch angle in the absence of disturbances. It is further shown that an active tail can compensate for disturbances and correct any drift in therobot body pitch angle due to changes in robot running speed.
UR - http://www.scopus.com/inward/record.url?scp=70350380708&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70350380708&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2009.5152556
DO - 10.1109/ROBOT.2009.5152556
M3 - Conference contribution
AN - SCOPUS:70350380708
SN - 9781424427895
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2655
EP - 2660
BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
Y2 - 12 May 2009 through 17 May 2009
ER -