Stimulated by recent biomechanics research of the cheetah, a novel tail controller system for rapid acceleration and braking is presented. To understand the targeted behaviour of a cheetah performing a longitudinal manoeuvre and the effects an actuated tail has, a simple mathematical template was developed. Subsequently feedback controllers were designed based on our hypothesis. Finally, the control system was experimentally tested on a reduced order robot model which increased its manoeuvrability considerably.


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    Title :

    Rapid acceleration and braking: Inspirations from the cheetah's tail


    Contributors:
    Patel, Amir (author) / Braae, M. (author)


    Publication date :

    2014-05-01


    Size :

    1108207 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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