Dynamic Modeling, Analysis, and Design Synthesis of a Reduced Complexity Quadruped with a Serpentine Robotic Tail

Area of Science:

• Robotics
• Bio-inspired Engineering
• Biomechanics

Background:

• Serpentine tail structures in nature aid animal locomotion.
• Robotic serpentine tails offer potential for enhanced legged robot dynamics.

Purpose of the Study:

• To theoretically analyze the performance of a quadruped robot with a serpentine tail.
• To investigate the impact of critical design parameters on robot maneuverability and stability.

Main Methods:

• Formulation of a dynamic model and motion controller for the robot-quadruped-tail system.
• Conducting simulations to assess airborne righting and maneuvering capabilities.
• Systematic analysis of design parameters including tail mounting, length, COM location, and mass ratio.

Main Results:

• Tail length and mass ratio significantly influence maneuvering angle.
• Torso center of mass (COM) location is critical for landing stability.
• Optimal tail parameters identified: length 2x torso length, weight 0.09x torso weight.

Conclusions:

• Serpentine robotic tails can improve quadrupedal robot agility and stability.
• Design parameter optimization is crucial for effective tail-assisted locomotion.
• The study provides specific design guidelines for implementing robotic serpentine tails.