A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2012; you can also visit <a rel="external noopener" href="http://robotics.eecs.berkeley.edu/~ronf/PAPERS/pullin-icra12.pdf">the original URL</a>. The file type is <code>application/pdf</code>.
Dynamic turning of 13 cm robot comparing tail and differential drive
<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>
Preserved Fulltext
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
<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>
more »
... 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.
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20120714034849/http://robotics.eecs.berkeley.edu/~ronf/PAPERS/pullin-icra12.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext">
<button class="ui simple right pointing dropdown compact black labeled icon button serp-button">
<i class="icon ia-icon"></i>
Web Archive
[PDF]
<div class="menu fulltext-thumbnail">
<img src="https://blobs.fatcat.wiki/thumbnail/pdf/8b/c2/8bc22b1ac19f87a37ed170d49e0e818303a409a9.180px.jpg" alt="fulltext thumbnail" loading="lazy">
</div>
</button>
</a>
<a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icra.2012.6225261">
<button class="ui left aligned compact blue labeled icon button serp-button">
<i class="external alternate icon"></i>
ieee.com
</button>
</a>