Active Tail Configurations for Enhanced Body Reorientation Performance
During dynamic locomotion, animals employ tails to help control the orientation of their bodies. This type of control is pervasive throughout locomotion strategies. Roboticists endeavor to close the gap between robots and their biological counterparts by developing various active tails. This work ex...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2023-02-01
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| Series: | Advanced Intelligent Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1002/aisy.202200219 |
| _version_ | 1797902624393003008 |
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| author | HyunGyu Kim Matthew A. Woodward Metin Sitti |
| author_facet | HyunGyu Kim Matthew A. Woodward Metin Sitti |
| author_sort | HyunGyu Kim |
| collection | DOAJ |
| description | During dynamic locomotion, animals employ tails to help control the orientation of their bodies. This type of control is pervasive throughout locomotion strategies. Roboticists endeavor to close the gap between robots and their biological counterparts by developing various active tails. This work explores these active tails and establishes a design strategy to enhance reorientation performances. A dynamic model to describe the transmitted torques at the body from the single‐axis active tail is suggested. The design parameters, which define the transmitted torques, are analyzed through the dynamic model to understand their contributions. The effects of aerodynamics on the active tail's performance are also explored. The active tails are categorized according to inertial tail designs (unbalanced distal mass or mass‐balanced about a rotating point), aerodynamic configurations (inertial, aerodynamic, aerodynamic with external airflow), and operating strategies (partial oscillation, symmetric oscillation, asymmetric‐oscillation or full rotations). The reorientation performance of 24 possible active tail combinations is explored and design strategies to select the proper combinations according to the target system's conditions are provided. This work can help in guiding the advanced active tail designs for future agile mobile robots. |
| first_indexed | 2024-04-10T09:20:35Z |
| format | Article |
| id | doaj.art-1febdc811b1f482faebe1de480127990 |
| institution | Directory Open Access Journal |
| issn | 2640-4567 |
| language | English |
| last_indexed | 2024-04-10T09:20:35Z |
| publishDate | 2023-02-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj.art-1febdc811b1f482faebe1de4801279902023-02-20T12:54:10ZengWileyAdvanced Intelligent Systems2640-45672023-02-0152n/an/a10.1002/aisy.202200219Active Tail Configurations for Enhanced Body Reorientation PerformanceHyunGyu Kim0Matthew A. Woodward1Metin Sitti2Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569 Stuttgart GermanyDepartment of Mechanical Engineering Tufts University Medford MA 02155 USAPhysical Intelligence Department Max Planck Institute for Intelligent Systems 70569 Stuttgart GermanyDuring dynamic locomotion, animals employ tails to help control the orientation of their bodies. This type of control is pervasive throughout locomotion strategies. Roboticists endeavor to close the gap between robots and their biological counterparts by developing various active tails. This work explores these active tails and establishes a design strategy to enhance reorientation performances. A dynamic model to describe the transmitted torques at the body from the single‐axis active tail is suggested. The design parameters, which define the transmitted torques, are analyzed through the dynamic model to understand their contributions. The effects of aerodynamics on the active tail's performance are also explored. The active tails are categorized according to inertial tail designs (unbalanced distal mass or mass‐balanced about a rotating point), aerodynamic configurations (inertial, aerodynamic, aerodynamic with external airflow), and operating strategies (partial oscillation, symmetric oscillation, asymmetric‐oscillation or full rotations). The reorientation performance of 24 possible active tail combinations is explored and design strategies to select the proper combinations according to the target system's conditions are provided. This work can help in guiding the advanced active tail designs for future agile mobile robots.https://doi.org/10.1002/aisy.202200219active taildesign methoddesign parameteroperating strategyreorientation |
| spellingShingle | HyunGyu Kim Matthew A. Woodward Metin Sitti Active Tail Configurations for Enhanced Body Reorientation Performance Advanced Intelligent Systems active tail design method design parameter operating strategy reorientation |
| title | Active Tail Configurations for Enhanced Body Reorientation Performance |
| title_full | Active Tail Configurations for Enhanced Body Reorientation Performance |
| title_fullStr | Active Tail Configurations for Enhanced Body Reorientation Performance |
| title_full_unstemmed | Active Tail Configurations for Enhanced Body Reorientation Performance |
| title_short | Active Tail Configurations for Enhanced Body Reorientation Performance |
| title_sort | active tail configurations for enhanced body reorientation performance |
| topic | active tail design method design parameter operating strategy reorientation |
| url | https://doi.org/10.1002/aisy.202200219 |
| work_keys_str_mv | AT hyungyukim activetailconfigurationsforenhancedbodyreorientationperformance AT matthewawoodward activetailconfigurationsforenhancedbodyreorientationperformance AT metinsitti activetailconfigurationsforenhancedbodyreorientationperformance |