Dynamic Modeling and Simulation of a Yaw-Angle Quadruped Maneuvering With a Planar Robotic Tail

This paper analyzes the impact a planar robotic tail can have on the yaw-angle maneuvering of a quadruped robot. Tail structures ranging from a one degree-of-freedom (1DOF) pendulum to a 6DOF serpentine robot are simulated, along with a quadruped model that accounts for ground contact friction. Tail trajectory generation using split-cycle frequency modulation is used to improve net quadruped rotation due to the tail's motion. Numerical results from the tail and quadruped models analyze the impact of trajectory factors and tail structure on the net quadruped rotation. Results emphasize the importance of both tangential and centripetal tail loading for tail trajectory planning and show the benefit of a multi-DOF tail.