Dynamic modeling and analysis of pitch motion of a basilisk lizard inspired quadruped robot running on water

Hyun Soo Park, Steven Floyd, Metin Sitti

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Scopus citations

Abstract

A quadrupedal robot inspired by the basilisk lizard was developed and modeled with a 3-D real time simulation. Due to the robot's geometry, leg motion, and water interactions, the net pitch moment at the center of mass is not zero making pitch motion unstable. This paper introduces two types of tails, passive and active, to stabilize pitch motion and analyzes the advantages and disadvantages of each. It is shown in simulation that a purely passive tail can stabilize pitch motion and lead to a steady state robot pitch angle in the absence of disturbances. It is further shown that an active tail can compensate for disturbances and correct any drift in therobot body pitch angle due to changes in robot running speed.

Original languageEnglish (US)
Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages2655-2660
Number of pages6
DOIs
StatePublished - Nov 2 2009
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: May 12 2009May 17 2009

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2009 IEEE International Conference on Robotics and Automation, ICRA '09
CountryJapan
CityKobe
Period5/12/095/17/09

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