| Issue |
E3S Web of Conf.
Volume 547, 2024
International Conference on Sustainable Green Energy Technologies (ICSGET 2024)
|
|
|---|---|---|
| Article Number | 02009 | |
| Number of page(s) | 7 | |
| Section | Electronic and Electrical Engineering | |
| DOI | https://doi.org/10.1051/e3sconf/202454702009 | |
| Published online | 09 July 2024 | |
Enhancing Rotation in Quadruped Robots Using Multi-Degree- of-Freedom Tails
Department of Mechanical Engineering, Nandha Engineering College, Perundurai 638 052, Tamilnadu, India
* Corresponding author: rajkumar1229@gmail.com
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.
© The Authors, published by EDP Sciences, 2024
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