MSU Tailbot: Controlling Aerial Maneuver of a Miniature-Tailed Jumping Robot

PROJECT TITLE :

MSU Tailbot: Controlling Aerial Maneuver of a Miniature-Tailed Jumping Robot

ABSTRACT:

Inspired by the aerial maneuvering ability of lizards, we present the look and control of MSU (Michigan State University) tailbot - a miniature-tailed jumping robot. The robot will not only wheel on the ground, however additionally jump up to overcome obstacles. Moreover, once leaping into the air, it can control its body angle using an energetic tail to dynamically maneuver in midair for safe landings. We tend to derive the midair dynamics equation and design controllers, like a sliding mode controller, to stabilize the body at desired angles. To the simplest of our knowledge, this can be the primary miniature (most size 7.five cm) and light-weight (26.5 g) robot that may wheel on the bottom, jump to beat obstacles, and maneuver in midair. Furthermore, tailbot is equipped with on-board energy, sensing, management, and wireless Communication capabilities, enabling tetherless or autonomous operations. The robot during this paper exemplifies the combination of mechanical style, embedded system, and advanced control ways that will inspire the subsequent-generation agile robots mimicking their biological counterparts. Moreover, it will serve as mobile sensor platforms for wireless sensor networks with several field applications.

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