{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/74491"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/74491","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Tail use in bioinspired quadrupedal locomotion","abstract":"Tails are seen in nature to be used in an amazing number of different applications. Many of these applications seen in nature may be of use to bioinspired roboticists in the future. I have provided a brief review of tail use as seen in nature. An experiment was performed using the MIT Cheetah to investigate the usefulness of tails in one particular instance. The Cheetah was set to stand while a large, standardized disturbance was introduced by means of a clay \"wrecking ball.\" Two cases were observed: one where the tail was actively stationary and another where the tail was swung in order to counteract the disturbance. The actively swung tail was seen to keep the body in the stable region longer than the stationary tail, thus providing the robot additional time to correct for the disturbance with the next foot fall.","abstract_html":"Tails are seen in nature to be used in an amazing number of different applications. Many of these applications seen in nature may be of use to bioinspired roboticists in the future. I have provided a brief review of tail use as seen in nature. An experiment was performed using the MIT Cheetah to investigate the usefulness of tails in one particular instance. The Cheetah was set to stand while a large, standardized disturbance was introduced by means of a clay "wrecking ball." Two cases were observed: one where the tail was actively stationary and another where the tail was swung in order to counteract the disturbance. The actively swung tail was seen to keep the body in the stable region longer than the stationary tail, thus providing the robot additional time to correct for the disturbance with the next foot fall.","abstract_has_math":false,"creators":["Briggs, Randall (Randall Miller)"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Dept. of Mechanical Engineering.","school":null,"contributors":[],"advisors":["Sangbae Kim."],"committee_chairs":[],"committee_members":[],"year":2012,"date_issued":"2012","date_published":"2012","updated_at":"2026-07-22T22:21:16Z","subjects":["Mechanical Engineering."],"languages":["eng"],"rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission."],"rights_urls":["http://dspace.mit.edu/handle/1721.1/7582"],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/1721.1/74491","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Sangbae Kim."]},{"key":"dc:contributor.department","label":"Department","values":["Massachusetts Institute of Technology. Dept. of Mechanical Engineering."]},{"key":"dc:contributor.other","label":"Dc Contributor Other","values":["Massachusetts Institute of Technology. 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I have provided a brief review of tail use as seen in nature. An experiment was performed using the MIT Cheetah to investigate the usefulness of tails in one particular instance. The Cheetah was set to stand while a large, standardized disturbance was introduced by means of a clay \"wrecking ball.\" Two cases were observed: one where the tail was actively stationary and another where the tail was swung in order to counteract the disturbance. The actively swung tail was seen to keep the body in the stable region longer than the stationary tail, thus providing the robot additional time to correct for the disturbance with the next foot fall."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["S.B."]},{"key":"dc:title","label":"Title","values":["Tail use in bioinspired quadrupedal locomotion"]}]}],"canonical_facts":{"dc:contributor.advisor":["Sangbae Kim."],"dc:contributor.department":["Massachusetts Institute of Technology. Dept. of Mechanical Engineering."],"dc:contributor.other":["Massachusetts Institute of Technology. Dept. of Mechanical Engineering."],"dc:creator":["Briggs, Randall (Randall Miller)"],"dc:date.accessioned":["2012-10-26T19:01:30Z"],"dc:date.available":["2012-10-26T19:01:30Z"],"dc:date.issued":["2012"],"dc:description":["Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.","Cataloged from PDF version of thesis.","Includes bibliographical references (p. 17-18)."],"dc:description.abstract":["Tails are seen in nature to be used in an amazing number of different applications. Many of these applications seen in nature may be of use to bioinspired roboticists in the future. I have provided a brief review of tail use as seen in nature. An experiment was performed using the MIT Cheetah to investigate the usefulness of tails in one particular instance. The Cheetah was set to stand while a large, standardized disturbance was introduced by means of a clay \"wrecking ball.\" Two cases were observed: one where the tail was actively stationary and another where the tail was swung in order to counteract the disturbance. The actively swung tail was seen to keep the body in the stable region longer than the stationary tail, thus providing the robot additional time to correct for the disturbance with the next foot fall."],"dc:description.degree":["S.B."],"dc:identifier.uri":["http://hdl.handle.net/1721.1/74491"],"dc:language.iso":["eng"],"dc:publisher":["Massachusetts Institute of Technology"],"dc:rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. 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