Analysis and Modeling of Galloping Robot With Actuated Tail for Balance*

Abstract

In the rapidly evolving field of mobile galloping robots, there is a problem of stabilizing underactuated systems because they face an unknown dynamical environment during high-speed motion. Nevertheless, using the principles of biomimetics, we can implement a way to preserve a galloping robot’s equilibrium in the same manner as land animals with long tails do. Our task is to understand how the tail works to balance and turn in nature and transfer this to the construction, taking into account the mechanics and control system’s features and advantages. It is also highly important to solve the tail’s control problem, which should not complicate the entire robot’s control system. We considered the tail influences of two types of galloping robots: quadrupedal locomotion robot and one-leg hopper. Using the active tail, we can ensure that the galloping robot can move over uneven and unknown terrain without losing its balance even if there is an external disturbance. The study includes analytical modeling and simulation results.