@inproceedings{d79d8d048957478da9c1574b37d80a08,
title = "Dynamic turning of 13 cm robot comparing tail and differential drive",
abstract = "Rapid and consistent turning of running legged robots on surfaces with moderate friction is challenging due to leg slip and uncertain dynamics. A tail is proposed as a method to effect turns at higher yaw frequencies than can be obtained by differential velocity drive of alternate sides. Here we introduce a 100 mm scale dynamic robot - OctoRoACH - with differential-drive steering and a low-mass tail to investigate issues of yaw rate control. The robot without tail is underactuated with only 2 drive motors and mass of 35 grams including battery and control electronics. For some surface conditions, OctoRoACH can maintain heading or turning rate using only leg velocity control, and a basic rate-gyro-based heading control system can respond to disturbances, with a closed-loop bandwidth of approximately 1 Hz. Using a modified off-the-shelf servo for the tail drive, the robot responds to turning commands at 4 Hz and up to 400°/sec.",
author = "Pullin, \{A. O.\} and Kohut, \{N. J.\} and D. Zarrouk and Fearing, \{R. S.\}",
year = "2012",
month = jan,
day = "1",
doi = "10.1109/ICRA.2012.6225261",
language = "American English",
isbn = "9781467314039",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
pages = "5086--5093",
booktitle = "2012 IEEE International Conference on Robotics and Automation, ICRA 2012",
note = "2012 IEEE International Conference on Robotics and Automation, ICRA 2012 ; Conference date: 14-05-2012 Through 18-05-2012",
}