Technical Reports (ESE)
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.
Date of this Version
Tails, Angular Momentum, Motor Selection, Legged Robots
Date Posted: 25 July 2012
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).