Amir Patel

Stimulated by recent biomechanics research of the cheetah, a novel tail controller
system for rapid acceleration and braking is presented. To understand the targeted
behaviour of a cheetah performing a longitudinal manoeuvre and the effects an actuated tail
has, a simple mathematical template was developed. Subsequently feedback controllers
were designed based on our hypothesis. Finally, the control system was experimentally
tested on a reduced order robot model which… Show more

Stimulated by recent biomechanics research of the cheetah, a novel tail controller
system for rapid acceleration and braking is presented. To understand the targeted
behaviour of a cheetah performing a longitudinal manoeuvre and the effects an actuated tail
has, a simple mathematical template was developed. Subsequently feedback controllers
were designed based on our hypothesis. Finally, the control system was experimentally
tested on a reduced order robot model which increased its manoeuvrability considerably. Show less

Inspired by the cheetah, we present a novel tail control system for manoeuvring terrestrial robots at high speed. The mathematic model for a high-speed turn is derived and the model with a tail is shown to be more successful at rapid turns in simulation. We then built a high speed mobile platform with an actuated tail to experimentally validate the control algorithms. Further controller development is performed based on results of the initial simulations. Finally, we show that by rapidly… Show more

Inspired by the cheetah, we present a novel tail control system for manoeuvring terrestrial robots at high speed. The mathematic model for a high-speed turn is derived and the model with a tail is shown to be more successful at rapid turns in simulation. We then built a high speed mobile platform with an actuated tail to experimentally validate the control algorithms. Further controller development is performed based on results of the initial simulations. Finally, we show that by rapidly swinging the tail, our system is capable of turning at much higher speeds than a tail-less version. Show less

The cheetah (Acinonyx jubatus) is arguably one of the most manoeuvrable terrestrial animals. For future time-critical missions, legged robots will need to possess capabilities similar to the cheetah. In this paper, a rapid acceleration quadruped system is designed and is found to be limited in manoeuvrability. However, we show that by the addition of an actuated tail a considerable increase in stride-averaged acceleration is obtained.

This paper described the design of a Collision Avoidance System using Specific Acceleration Matching Control (CASSAM). The system was tested in simulation, and the results were broadly supportive of this method for UAV collision avoidance.