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Inertial and Aerodynamic Tail Steeri...

Kohut, Nicholas Jospeh.

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Inertial and Aerodynamic Tail Steering of a Meso-scale Legged Robot.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Inertial and Aerodynamic Tail Steering of a Meso-scale Legged Robot./
Author:	Kohut, Nicholas Jospeh.
Description:	80 p.
Notes:	Source: Dissertation Abstracts International, Volume: 75-01(E), Section: B.
Contained By:	Dissertation Abstracts International75-01B(E).
Subject:	Engineering, Robotics. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3593884
ISBN:	9781303373602

Inertial and Aerodynamic Tail Steering of a Meso-scale Legged Robot.
Kohut, Nicholas Jospeh.

Inertial and Aerodynamic Tail Steering of a Meso-scale Legged Robot. - 80 p.

Source: Dissertation Abstracts International, Volume: 75-01(E), Section: B.

Thesis (Ph.D.)--University of California, Berkeley, 2013.

Legged robots have excellent potential for all-terrain mobility, and are capable of many behaviors wheeled and tracked robots are unable to perform. However, legged robots have difficulty turning rapidly, or turning while running forward. For maximum maneuverability, terrestrial robots need to be able to turn precisely, quickly, and with a small radius. Previous efforts at turning in legged robots primarily have used leg force or velocity modulation. This work presents two novel methods of legged robot turning.

ISBN: 9781303373602Subjects--Topical Terms:

1018454
Engineering, Robotics.

Inertial and Aerodynamic Tail Steering of a Meso-scale Legged Robot.
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008 150210s2013 ||||||||||||||||| ||eng d
020 $a 9781303373602
035 $a (MiAaPQ)AAI3593884
035 $a AAI3593884
040 $a MiAaPQ $c MiAaPQ
100 1 $a Kohut, Nicholas Jospeh. $3 2096279
245 1 0 $a Inertial and Aerodynamic Tail Steering of a Meso-scale Legged Robot.
300 $a 80 p.
500 $a Source: Dissertation Abstracts International, Volume: 75-01(E), Section: B.
500 $a Advisers: Ronald S. Fearing; Oliver M. O'Reilly.
502 $a Thesis (Ph.D.)--University of California, Berkeley, 2013.
520 $a Legged robots have excellent potential for all-terrain mobility, and are capable of many behaviors wheeled and tracked robots are unable to perform. However, legged robots have difficulty turning rapidly, or turning while running forward. For maximum maneuverability, terrestrial robots need to be able to turn precisely, quickly, and with a small radius. Previous efforts at turning in legged robots primarily have used leg force or velocity modulation. This work presents two novel methods of legged robot turning.
520 $a The first of these methods is inertial tail turning, or using a rapidly actuated, weighted tail to cause a sudden change in angular momentum, turning the body of the robot. The tailed robot presented here is able to make rapid, precise turns. By rapidly rotating the tail as the robot runs forward, the robot was able to make sudden 90 degree turns at 360 degrees per second, making it the fastest turning legged robot known to the author at the time of this publication. Unlike other turning methods, this turn is performed with almost no change in forward running speed. The dynamics of this maneuver have also been modeled, to examine how features, such as tail length and mass, affect the robot's turning ability. This approach has produced turns with a radius of 0.4 body lengths at 3.2 body lengths per second running speed. Using a nonlinear feedback controller, turns with an accuracy of +/- 5 degrees for a 60 degree turn have been achieved.
520 $a The second method of turning presented here allows a legged robot to turn continuously while running at high speeds. This remains a difficult task for legged robots, but is crucial for maneuvering quickly in a real-world environment. SailRoACH is the first running robot that uses aerodynamic forces to turn. A flat plate serves as an aerodynamic surface, and depending on its position, can be used to impart positive or negative aerodynamic yaw torques on the robot as it runs forward, causing turns of up to 70 degrees per second at a radius of 1.2 meters and a running speed of 1.8 meters per second. A scale analysis of aerodynamic steering is also presented, showing this method is most effective for small robots. Comparisons to other steering methods are made, showing that inertial and aerodynamic steering are superior for high speed turns at high forward velocity, compared to existing methods.
590 $a School code: 0028.
650 4 $a Engineering, Robotics. $3 1018454
650 4 $a Engineering, Mechanical. $3 783786
690 $a 0771
690 $a 0548
710 2 $a University of California, Berkeley. $b Mechanical Engineering. $3 1043692
773 0 $t Dissertation Abstracts International $g 75-01B(E).
790 $a 0028
791 $a Ph.D.
792 $a 2013
793 $a English
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3593884