Ekor menstabilkan gerak robot beroda


Mengambil konsep dari se-ekor kadal, team penelitian ini menemukan pengaruh ekor kadal untuk mengatur keseimbangan saat kadal melompat atau memanjat. Dan pengaplikasian dari hasil penelitian ini adalah ekor untuk kendaraan robot beroda.


This agile little robot with a lizard-inspired tail is by far one of the coolest things we saw at last year’s IROS, the IEEE International Conference on Intelligent Robots and Systems. You better believe we wanted to share it with you back then, but the UC Berkeley researchers asked us to stay quiet since they were working on a paper forNature, which is a pretty big deal. The embargo lifted just this second, and we’re finally able to bring you the full story.

Terrestrial robots are getting to be pros at moving rapidly over, up, down, and around all kinds of surfaces, even rough ones full of obstacles. Their weakness, however, is that they generally require surface contact in order to be effective. Introduce an airborne phase (jumping, bouncing, falling, being thrown, etc.) and you get into all kinds of trouble.

Animals generally don’t have issues like these. Take velociraptors, those wickedly agile biped carnivores made famous by the “Jurassic Park” movies: As I’m sure you’ve noticed, when velociraptors jump, they don’t tip over backwards nor do they fall flat on their faces like mobile robots tend to when they get airborne at high speed. You can say the same thing about lizards if you don’t happen to have any velociraptors in your neighborhood. The secret, it turns out, is use of the tail as a mechanism for generating torque to control orientation in all three dimensions, with animals dynamically adjusting the pitch, roll, and yaw of their bodies through tail motion.

Researchers at UC Berkeley (including Thomas Libby, Talia Y. Moore, Evan Chang-Siu, Deborah Li, Daniel J. Cohen, Ardian Jusufi, and Robert J. Full) thought that this active tail control was a pretty neat and potentially useful trick, so they performed some detailed studies of agama lizards to figure out how they did it. Using a high-speed camera, they tracked the lizards as they were, uh, persuaded to jump from a horizontal surface to a vertical one. By altering the friction of the horizontal surface, the lizards could be made to take off pitching either forwards or backwards, and close attention was paid to what they did with their tails to counteract these pitching motions to allow themselves to land on the vertical surface at the proper orientation:

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