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Article: MSU Tailbot: Controlling Aerial Maneuver of a Miniature-Tailed Jumping Robot

TitleMSU Tailbot: Controlling Aerial Maneuver of a Miniature-Tailed Jumping Robot
Authors
Issue Date2015
Citation
IEEE/ASME Transactions on Mechatronics, 2015, v. 20 n. 6, p. 2903- 2914 How to Cite?
AbstractInspired by the aerial maneuvering ability of lizards, we present the design and control of MSU (Michigan State University) tailbot—a miniature-tailed jumping robot. The robot can not only wheel on the ground, but also jump up to overcome obstacles. Moreover, once leaping into the air, it can control its body angle using an active tail to dynamically maneuver in midair for safe landings. We derive the midair dynamics equation and design controllers, such as a sliding mode controller, to stabilize the body at desired angles. To the best of our knowledge, this is the first miniature (maximum size 7.5 cm) and lightweight ( 26.5 g) robot that can wheel on the ground, jump to overcome obstacles, and maneuver in midair. Furthermore, tailbot is equipped with on-board energy, sensing, control, and wireless communication capabilities, enabling tetherless or autonomous operations. The robot in this paper exemplifies the integration of mechanical design, embedded system, and advanced control methods that will inspire the next-generation agile robots mimicking their biological counterparts. Moreover, it can serve as mobile sensor platforms for wireless sensor networks with many field applications.
Persistent Identifierhttp://hdl.handle.net/10722/213456
ISSN
2015 Impact Factor: 3.851
2015 SCImago Journal Rankings: 2.305

 

DC FieldValueLanguage
dc.contributor.authorZhao, Jianguo-
dc.contributor.authorZhao, Tianyu-
dc.contributor.authorXi, Ning-
dc.contributor.authorMutka, Matt W.-
dc.contributor.authorXiao, Li-
dc.date.accessioned2015-07-28T04:07:20Z-
dc.date.available2015-07-28T04:07:20Z-
dc.date.issued2015-
dc.identifier.citationIEEE/ASME Transactions on Mechatronics, 2015, v. 20 n. 6, p. 2903- 2914-
dc.identifier.issn1083-4435-
dc.identifier.urihttp://hdl.handle.net/10722/213456-
dc.description.abstractInspired by the aerial maneuvering ability of lizards, we present the design and control of MSU (Michigan State University) tailbot—a miniature-tailed jumping robot. The robot can not only wheel on the ground, but also jump up to overcome obstacles. Moreover, once leaping into the air, it can control its body angle using an active tail to dynamically maneuver in midair for safe landings. We derive the midair dynamics equation and design controllers, such as a sliding mode controller, to stabilize the body at desired angles. To the best of our knowledge, this is the first miniature (maximum size 7.5 cm) and lightweight ( 26.5 g) robot that can wheel on the ground, jump to overcome obstacles, and maneuver in midair. Furthermore, tailbot is equipped with on-board energy, sensing, control, and wireless communication capabilities, enabling tetherless or autonomous operations. The robot in this paper exemplifies the integration of mechanical design, embedded system, and advanced control methods that will inspire the next-generation agile robots mimicking their biological counterparts. Moreover, it can serve as mobile sensor platforms for wireless sensor networks with many field applications.-
dc.languageeng-
dc.relation.ispartofIEEE/ASME Transactions on Mechatronics-
dc.titleMSU Tailbot: Controlling Aerial Maneuver of a Miniature-Tailed Jumping Robot-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/TMECH.2015.2411513-
dc.identifier.scopuseid_2-s2.0-84926657815-
dc.identifier.hkuros269337-
dc.identifier.volume20-
dc.identifier.issue6-
dc.identifier.spage2903-
dc.identifier.epage2914-

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