JERBOA INSPIRED ROBOTIC TAIL: CONTROLLING TAIL MOTION WITH VARYING TENDON ATTACHMENTS

Abstract

Animal tails serve various functions ranging from locomotion to communication with other animals. One function of tails that has yet to be investigated is its impact on mobility and correlation with inertial maneuvering. Additionally, the impact of tendon attachment and tendon branching patterns within the tail on observed tail motions has not been clearly identified. This study focuses on exploring the complexity of different tendon branching styles and attachment points within animal tails, particularly Jerboas, and how these branching patterns affect control in 3D motion. To better understand the impact of tail anatomy on tail motion, a modular mechanical tail �test bed� is developed and different tendon branching patterns are tested. The proposed �test bed� will begin by assuming a constant bone and ligament size to better understand the effect of tendons on tail motion. The motions created by this physical model are then compared to the motions of an OpenSim model that simulates various tendon branching patterns. This comparison of observed mechanical tail behavior will be used to determine the validity of the simulation and ability to utilize branching in physical robots. Validation of the mechanical model and simulation will provide a better understanding of the impact of tendons on tail behavior. Characterizing the effect of different types of tendon branching patterns and attachment points can provide key insights for the development of underactuated mechanisms with large degrees of freedom.