Dynamic turning of 13 cm robot comparing tail and differential drive

A.O. Pullin, N.J. Kohut, D. Zarrouk, R. S. Fearing
<span title="">2012</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/nytnrt3gtzbixld5r6a4talbky" style="color: black;">2012 IEEE International Conference on Robotics and Automation</a> </i> &nbsp;
Rapid and consistent turning of running legged robots on surfaces with moderate friction is challenging due to leg slip and uncertain dynamics. A tail is proposed as a method to effect turns at higher yaw frequencies than can be obtained by differential velocity drive of alternate sides. Here we introduce a 100 mm scale dynamic robot -OctoRoACHwith differential-drive steering and a low-mass tail to investigate issues of yaw rate control. The robot without tail is underactuated with only 2 drive
more &raquo; ... motors and mass of 35 grams including battery and control electronics. For some surface conditions, OctoRoACH can maintain heading or turning rate using only leg velocity control, and a basic rate-gyro-based heading control system can respond to disturbances, with a closed-loop bandwidth of approximately 1 Hz. Using a modified off-the-shelf servo for the tail drive, the robot responds to turning commands at 4 Hz and up to 400 • /sec.
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2012.6225261">doi:10.1109/icra.2012.6225261</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/icra/PullinKZF12.html">dblp:conf/icra/PullinKZF12</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/5tmxh6wvgvajnm4wd4mjqg5cpm">fatcat:5tmxh6wvgvajnm4wd4mjqg5cpm</a> </span>
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