Tail use in bioinspired quadrupedal locomotion
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2012
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| Online Access: | http://hdl.handle.net/1721.1/74491 |
| _version_ | 1826196821312012288 |
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| author | Briggs, Randall (Randall Miller) |
| author2 | Sangbae Kim. |
| author_facet | Sangbae Kim. Briggs, Randall (Randall Miller) |
| author_sort | Briggs, Randall (Randall Miller) |
| collection | MIT |
| description | Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012. |
| first_indexed | 2024-09-23T10:38:28Z |
| format | Thesis |
| id | mit-1721.1/74491 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T10:38:28Z |
| publishDate | 2012 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/744912019-04-12T09:29:13Z Tail use in bioinspired quadrupedal locomotion Briggs, Randall (Randall Miller) Sangbae Kim. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012. Cataloged from PDF version of thesis. Includes bibliographical references (p. 17-18). Tails are seen in nature to be used in an amazing number of different applications. Many of these applications seen in nature may be of use to bioinspired roboticists in the future. I have provided a brief review of tail use as seen in nature. An experiment was performed using the MIT Cheetah to investigate the usefulness of tails in one particular instance. The Cheetah was set to stand while a large, standardized disturbance was introduced by means of a clay "wrecking ball." Two cases were observed: one where the tail was actively stationary and another where the tail was swung in order to counteract the disturbance. The actively swung tail was seen to keep the body in the stable region longer than the stationary tail, thus providing the robot additional time to correct for the disturbance with the next foot fall. by Randall Briggs. S.B. 2012-10-26T19:01:30Z 2012-10-26T19:01:30Z 2012 2012 Thesis http://hdl.handle.net/1721.1/74491 813047589 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 41 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Briggs, Randall (Randall Miller) Tail use in bioinspired quadrupedal locomotion |
| title | Tail use in bioinspired quadrupedal locomotion |
| title_full | Tail use in bioinspired quadrupedal locomotion |
| title_fullStr | Tail use in bioinspired quadrupedal locomotion |
| title_full_unstemmed | Tail use in bioinspired quadrupedal locomotion |
| title_short | Tail use in bioinspired quadrupedal locomotion |
| title_sort | tail use in bioinspired quadrupedal locomotion |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/74491 |
| work_keys_str_mv | AT briggsrandallrandallmiller tailuseinbioinspiredquadrupedallocomotion |