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Singularity-free planning for a robot cat free-fall with control delay: role of limbs and tail
, Article 2017 8th International Conference on Mechanical and Aerospace Engineering, ICMAE 2017, 22 July 2017 through 25 July 2017 ; 2017 , Pages 215-221 ; 9781538633052 (ISBN) ; Meghdari, A ; Sharif University of Technology
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...
Modeling,Design and Simulation of Falling and Landing Process in a Robotic Cat
, M.Sc. Thesis Sharif University of Technology ; Meghdari, Ali (Supervisor)
Abstract
Motion dynamics of cat species has always been attractive to be studied. Flexibility in motion due to specific skeleton and complex muscle-skeleton mechanism, control concepts, special way of running, high speed direction change while moving, ability of twisting the body during free fall, and landing on four limbs were widely investigated in literature and the results have been used in different branches such as control, robotics and aerospace.In this project, kinematic and dynamic equations of cat species falling maneuver are derived using quaternions for a simple two-link robot, a three-link robot with tail, and a more complete eight-link model with the addition of legs which is designed...