On Attitude Dynamics and Control of Legged Robots Using Tail-Like Systems
In this work we study the attitude dynamics and the control of legged robots using tail-like appendages during the aerial phases of high speed locomotion. A free floating two-body system is used to describe the dynamics of a large body controlling its attitude using a rotating appendage. The equations of motion for a tail and a reaction wheel are given, and the meaning of the generalized coordinates being ignorable or palpable is discussed in detail. A thorough discussion on the holonomy of the system is also included. Analytical expressions are given for a further reduced dynamical model and model-based controllers are then proposed. Finally, we present a series of simulation results, and we derive conclusions that can serve as guidelines when designing such systems.
References
- Machairas, K. and Papadopoulos, E., “On Quadruped Attitude Dynamics and Control Using Reaction Wheels and Tails,” Proc. of the European Control Conference 2015, Johannes Kepler University, Linz, Austria, July 15-17, 2015.
- Machairas, K. and Papadopoulos, E., “On Attitude Dynamics and Control of Legged Robots Using Tail-Like Systems,” ECCOMAS Thematic Conference on Multibody Dynamics, June 29 – July 2, 2015, Barcelona, Catalonia, Spain.