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Synopsis Serpentine tail structures are widely observed in the animal kingdom and are thought to help animals to handle various motion tasks. Developing serpentine robotic tails and using them on legged robots has been an attractive idea for robotics. This article presents the theoretical analysis for such a robotic system that consists of a reduced complexity quadruped and a serpentine robotic tail. Dynamic model and motion controller are formulated first. Simulations are then conducted to analyze the tail’s performance on the airborne righting and maneuvering tasks of the quadruped. Using the established simulation environment, systematic analyses on critical design parameters, namely, the tail mounting point, tail length, torso center of mass (COM) location, tail–torso mass ratio, and the power consumption distribution, are performed. The results show that the tail length and the mass ratio influence the maneuvering angle the most while the COM location affects the landing stability the most. Based on these design guidelines, for the current robot design, the optimal tail parameters are determined as a length of two times as long as the torso length and a weight of 0.09 times as heavy as the torso weight.
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IEEE Transactions on Power Systems
The empirical probability distribution of transmission line restoration times is obtained from 14 years of field data from a large utility. The distribution of restoration times has a heavy tail that indicates that long restoration times, although less frequent, routinely occur. The heavy tail differs from the convenient assumption of exponentially distributed restoration times, impacts power system resilience, and makes estimates of the mean restoration time highly variable.
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- Award ID(s):
- 1609080
- PAR ID:
- 10218808
- Date Published:
- Journal Name:
- IEEE transactions on power systems
- Volume:
- 33
- Issue:
- 1
- ISSN:
- 1558-0679
- Page Range / eLocation ID:
- 1145-1147
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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Accepted Manuscript
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- The DOI is not currently available.
