Tail Assisted Dynamic Self Righting: Full Derivations
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Kodlab
Tails
Angular Momentum
Motor Selection
Legged Robots
Robotics
Tails
Angular Momentum
Motor Selection
Legged Robots
Robotics
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Abstract
This technical report is a companion document to the CLAWAR 2012 paper of the same name, for which we explicitly write out a full derivation of the kinematics and dynamics. Please refer to that document for motivation, experimentation, and discussion.
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2012-07-01
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A. M. Johnson, T. Libby, E. Chang-Siu, M. Tomizuka, R. J. Full and D. E. Koditschek, Tail Assisted Dynamic Self Righting: Full Derivations, tech. rep., University of Pennsylvania (2012).