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Dynamic Modeling of a Quadruped With a Robotic Tail Using Virtual Work Principle

[+] Author Affiliations
Yujiong Liu, Pinhas Ben-Tzvi

Virginia Tech, Blacksburg, VA

Paper No. DETC2018-86048, pp. V05BT07A021; 8 pages
  • ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5B: 42nd Mechanisms and Robotics Conference
  • Quebec City, Quebec, Canada, August 26–29, 2018
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5181-4
  • Copyright © 2018 by ASME


For utilizing robotic tail to stabilize and maneuver a quadruped, it is important to understand the mechanism of how the tail motion influences the quadruped motion which requires obtaining an analytic dynamic model. This paper presents a systematic methodology for modeling the dynamics of a general quadruped (capable of all 6 DOF motions) with a robotic pendulum tail based on the virtual work principle. The formulation of this model is motivated by robotic tail research, it can also be used as an alternative approach to model the quadruped dynamics other than using Lagrangian and Newton-Euler based methods. Numerical simulations are also conducted to verify both the forward and the inverse model.

Copyright © 2018 by ASME



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