Technical Brief

Dynamic Modeling and Simulation of a Yaw-Angle Quadruped Maneuvering With a Planar Robotic Tail

[+] Author and Article Information
William Rone

Robotics and Mechatronics Laboratory,
Department of Mechanical Engineering,
Virginia Tech,
Randolph Hall, Room No. 8,
460 Old Turner Street,
Blacksburg, VA 24061
e-mail: wsrone@vt.edu

Pinhas Ben-Tzvi

Robotics and Mechatronics Laboratory,
Department of Mechanical Engineering,
Virginia Tech,
Goodwin Hall, Room No. 456
635 Prices Fork Road,
Blacksburg, VA 24061
e-mail: bentzvi@vt.edu

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received September 22, 2015; final manuscript received March 7, 2016; published online May 25, 2016. Assoc. Editor: Jongeun Choi.

J. Dyn. Sys., Meas., Control 138(8), 084502 (May 25, 2016) (7 pages) Paper No: DS-15-1456; doi: 10.1115/1.4033103 History: Received September 22, 2015; Revised March 07, 2016

This paper analyzes the impact a planar robotic tail can have on the yaw-angle maneuvering of a quadruped robot. Tail structures ranging from a one degree-of-freedom (1DOF) pendulum to a 6DOF serpentine robot are simulated, along with a quadruped model that accounts for ground contact friction. Tail trajectory generation using split-cycle frequency modulation is used to improve net quadruped rotation due to the tail's motion. Numerical results from the tail and quadruped models analyze the impact of trajectory factors and tail structure on the net quadruped rotation. Results emphasize the importance of both tangential and centripetal tail loading for tail trajectory planning and show the benefit of a multi-DOF tail.

Copyright © 2016 by ASME
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Fig. 3

Foot contact forces and friction moment effective length calculation parameters

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Fig. 2

Reference frames and coordinates for 2DOF tail and quad

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Fig. 1

(a) One-through 6DOF tail structures and (b) 6DOF tail mounted to quadruped

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Fig. 6

Comparison of Simulink and ADAMS model φ trajectories for (a) 1DOF tail and (b) 6DOF tail

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Fig. 4

Friction coefficient profiles for stiction (Simulink) and continuous (ADAMS) models

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Fig. 5

Split-cycle acceleration profile

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Fig. 7

(a) φ trajectory and (b) associated tail, friction, and inertial moments for 1DOF tail

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Fig. 8

Comparison of (a) tangential and (b) centripetal contributions to φ¨

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Fig. 9

Net φ rotation for varying θ0 and dQ2B

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Fig. 10

LF for varying θ and dQ2B

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Fig. 11

Net φ rotation for varying wss

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Fig. 12

Net φ rotation for varying ΔT  and Δθ

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Fig. 13

Comparison of net φ rotation for constant maximum tail velocity

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Fig. 14

Net φ rotation for tails with varying DOF



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