Dynamic stability control for a bio-robot with primates-inspired active tail

Xiaoyun Li; Zhihong Jiang; Hui Li; Yang Mo; Mingjie Zou; Qiang Huang

doi:10.1109/ICMA.2015.7237799

Dynamic stability control for a bio-robot with primates-inspired active tail

Xiaoyun Li, Zhihong Jiang, Hui Li^*, Yang Mo, Mingjie Zou, Qiang Huang

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Citations (Scopus)

Abstract

Based on the detailed investigation and research of the balance mechanism of tail in primates, we designed a robot with a 3-DOF tail. By utilizing zero net angular momentum maneuvering, and implementing a dynamic feed-forward controller combining with a proportional-derivative controller for our tailed robot, it can self-right from the initial orientation, and avoid flipping over after a large perturbation.

Original language	English
Title of host publication	2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2035-2040
Number of pages	6
ISBN (Electronic)	9781479970964
DOIs	https://doi.org/10.1109/ICMA.2015.7237799
Publication status	Published - 2 Sept 2015
Event	12th IEEE International Conference on Mechatronics and Automation, ICMA 2015 - Beijing, China Duration: 2 Aug 2015 → 5 Aug 2015

Publication series

Name	2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015

Conference

Conference	12th IEEE International Conference on Mechatronics and Automation, ICMA 2015
Country/Territory	China
City	Beijing
Period	2/08/15 → 5/08/15

Keywords

dynamic stabilization
primates
robot
tail

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10.1109/ICMA.2015.7237799

Cite this

Li, X., Jiang, Z., Li, H., Mo, Y., Zou, M., & Huang, Q. (2015). Dynamic stability control for a bio-robot with primates-inspired active tail. In 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015 (pp. 2035-2040). Article 7237799 (2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2015.7237799

@inproceedings{04be31735a11426eb043efede397e173,

title = "Dynamic stability control for a bio-robot with primates-inspired active tail",

abstract = "Based on the detailed investigation and research of the balance mechanism of tail in primates, we designed a robot with a 3-DOF tail. By utilizing zero net angular momentum maneuvering, and implementing a dynamic feed-forward controller combining with a proportional-derivative controller for our tailed robot, it can self-right from the initial orientation, and avoid flipping over after a large perturbation.",

keywords = "dynamic stabilization, primates, robot, tail",

author = "Xiaoyun Li and Zhihong Jiang and Hui Li and Yang Mo and Mingjie Zou and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 12th IEEE International Conference on Mechatronics and Automation, ICMA 2015 ; Conference date: 02-08-2015 Through 05-08-2015",

year = "2015",

month = sep,

day = "2",

doi = "10.1109/ICMA.2015.7237799",

language = "English",

series = "2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Li, X, Jiang, Z, Li, H, Mo, Y, Zou, M & Huang, Q 2015, Dynamic stability control for a bio-robot with primates-inspired active tail. in 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015., 7237799, 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015, Institute of Electrical and Electronics Engineers Inc., pp. 2035-2040, 12th IEEE International Conference on Mechatronics and Automation, ICMA 2015, Beijing, China, 2/08/15. https://doi.org/10.1109/ICMA.2015.7237799

Dynamic stability control for a bio-robot with primates-inspired active tail. / Li, Xiaoyun; Jiang, Zhihong; Li, Hui et al.
2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 2035-2040 7237799 (2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Dynamic stability control for a bio-robot with primates-inspired active tail

AU - Li, Xiaoyun

AU - Jiang, Zhihong

AU - Li, Hui

AU - Mo, Yang

AU - Zou, Mingjie

AU - Huang, Qiang

PY - 2015/9/2

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N2 - Based on the detailed investigation and research of the balance mechanism of tail in primates, we designed a robot with a 3-DOF tail. By utilizing zero net angular momentum maneuvering, and implementing a dynamic feed-forward controller combining with a proportional-derivative controller for our tailed robot, it can self-right from the initial orientation, and avoid flipping over after a large perturbation.

AB - Based on the detailed investigation and research of the balance mechanism of tail in primates, we designed a robot with a 3-DOF tail. By utilizing zero net angular momentum maneuvering, and implementing a dynamic feed-forward controller combining with a proportional-derivative controller for our tailed robot, it can self-right from the initial orientation, and avoid flipping over after a large perturbation.

KW - dynamic stabilization

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M3 - Conference contribution

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T3 - 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015

SP - 2035

EP - 2040

BT - 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 12th IEEE International Conference on Mechatronics and Automation, ICMA 2015

Y2 - 2 August 2015 through 5 August 2015

ER -

Li X, Jiang Z, Li H, Mo Y, Zou M, Huang Q. Dynamic stability control for a bio-robot with primates-inspired active tail. In 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 2035-2040. 7237799. (2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015). doi: 10.1109/ICMA.2015.7237799

Dynamic stability control for a bio-robot with primates-inspired active tail

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