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Singularity-free planning for a robot cat free-fall with control delay: Role of limbs and tail

Research output: Chapter in Book/Report/Conference proceedingOther chapter contribution

S. M.Hadi Sadati, Ali Meghdari

Original languageEnglish
Title of host publication2017 8th International Conference on Mechanical and Aerospace Engineering, ICMAE 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages215-221
Number of pages7
ISBN (Electronic)978-1-5386-3306-9
ISBN (Print)9781538633052
DOIs
Publication statusPublished - 14 Sep 2017
Event8th International Conference on Mechanical and Aerospace Engineering, ICMAE 2017 - Prague, Czech Republic
Duration: 22 Jul 201725 Jul 2017

Conference

Conference8th International Conference on Mechanical and Aerospace Engineering, ICMAE 2017
CountryCzech Republic
CityPrague
Period22/07/201725/07/2017

King's Authors

Abstract

Cat free fall righting maneuverer has inspired many aerial, space and legged robotic research. Conservation of angular momentum principle is used to derive the inverse differential kinematic and TMT vector form dynamics of the motion for three robotic models: a two-link model, a three-link model with tail, and a comprehensive eight-link model with the addition of legs. The path planning problem in the presence of geometric and kinematic constraints is addressed using a novel singularity free single shooting optimization method. While a 2 DOF torso is sufficient to perform a full maneuver, the addition of the tail reduces the time and increases the maneuverability despite the leg motions that has adverse effects. The method performance is investigated numerically and a simulation in MSC.ADAMS software is used to verify the results. The structural parameters are optimized showing the significant advantageous of a light and symmetric body shape. A prototype will be fabricated based on these results in near future.

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