Abstract
An actuated tail can impart large angular impulse over short time spans, but swinging in a plane results in inevitable tail angle saturation. Cheetahs ( Acinonyx jubatus ) are observed swinging the tail in a cone during turns [1] , and this paper develops a simplified two-degree-of-freedom (pitch and roll) rigid tail model to investigate this motion. Trajectory optimization and experiments on a robotic platform confirm the observed cone motion as a useful solution to roll stabilization. These results are relevant to the understanding of tail motions in biomechanics and bioinspired tailed robots.
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