Enhancing Rotation in Quadruped Robots Using Multi-Degree- of-Freedom Tails

摘要

The effects of a robotic tail's planar shape on a quadruped robot's ability to manipulate yaw angles are examined in this research. A quadruped model that takes ground contact friction into consideration is included in the simulation, along with tail structures that vary from a 1-degree of freedom (1 DOF) pendulum to a six-degree-of-freedom serpentine robot. To take advantage of the tail's motion and enhance net quadruped rotation, trajectories are generated utilizing split-cycle frequency modulation. In order to numerically investigate the effect of trajector parameters and tail assembly on the neted quadruped spin, quadruped and tail models are employed. The results demonstrate the value of a multi-DOF tail and stress the significance of centripetal and tangential loads on tail trajectory planning.