Technical Reports (ESE)

Document Type

Technical Report

Subject Area

Kodlab

Date of this Version

7-2012

Comments

A. M. Johnson, T. Libby, E. Chang-Siu, M. Tomizuka, R. J. Full and D. E. Koditschek, Tail Assisted Dynamic Self Righting: Full Derivations, tech. rep., University of Pennsylvania (2012).

Abstract

This technical report is a companion document to the CLAWAR 2012 paper of the same name, for which we explicitly write out a full derivation of the kinematics and dynamics. Please refer to that document for motivation, experimentation, and discussion.

Keywords

Tails, Angular Momentum, Motor Selection, Legged Robots

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Robotics Commons

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Date Posted: 25 July 2012