Abstract: Adaptive Mobile Robotics, pp. 611-620 (2012) No AccessTAIL ASSISTED DYNAMIC SELF RIGHTINGAaron M. Johnson, Thomas Libby, Evan Chang-Siu, Masayoshi Tomizuka, Robert J. Full, and D. E. KoditschekAaron M. JohnsonUniversity of Pennsylvania, 200 S. 33rd St, Philadelphia, PA 19104, USA, Thomas LibbyUniversity of California Berkeley, 1099 Valley Life Science Bldg, Berkeley, CA 94720, USA, Evan Chang-SiuUniversity of California Berkeley, 1099 Valley Life Science Bldg, Berkeley, CA 94720, USA, Masayoshi TomizukaUniversity of California Berkeley, 1099 Valley Life Science Bldg, Berkeley, CA 94720, USA, Robert J. FullUniversity of California Berkeley, 1099 Valley Life Science Bldg, Berkeley, CA 94720, USA, and D. E. KoditschekUniversity of Pennsylvania, 200 S. 33rd St, Philadelphia, PA 19104, USAhttps://doi.org/10.1142/9789814415958_0079Cited by:37 PreviousNext AboutSectionsPDF/EPUB ToolsAdd to favoritesDownload CitationsTrack CitationsRecommend to Library ShareShare onFacebookTwitterLinked InRedditEmail Abstract: In this paper we explore the design space of tails intended for self-righting a robot's body during free fall. Conservation of total angular momentum imposes a dimensionless index of rotational efficacy upon the robot's kinematic and dynamical parameters whose selection insures that for a given tail rotation, the body rotation will be identical at any size scale. In contrast, the duration of such a body reorientation depends upon the acceleration of the tail relative to the body, and power density of the tail's actuator must increase with size in order to achieve the same maneuver in the same relative time. Assuming a simple controller and power-limited actuator, we consider maneuverability constraints upon two different types of parameters — morphological and energetic — that can be used for design. We show how these constraints inform contrasting tail design on two robots separated by a four-fold length scale, the 177g Tailbot and the 8.1kg X-RHex Lite (XRL). We compare previously published empirical self-righting behavior of the Tailbot with new, tailed XRL experiments wherein we drop it nose first from a 2.7 body length height and also deliberately run it off an elevated cliff to land safely on its springy legs in both cases. 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