Development of a Bio-Inspired Hyperredundant Robotic Tail for Dynamic Balancing Tasks

Date

2026-9-03

Author

Öner, Güven

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Inspired by the structural and functional diversity of tails in nature, this thesis presents the development of a bio-inspired hyperredundant robotic tail for dynamic balancing tasks. First, the functions and morphological characteristics of biological tails are examined to identify principles that can guide the design of robotic tail systems. Based on these observations, a mathematical model of the proposed multi-segment robotic tail and the body to which it is attached is developed to describe the kinematics and nonlinear dynamics of the coupled system. A morphology optimization approach is then proposed to investigate the effects of design parameters, particularly the number of segments, segment properties, joint stiffness, damping, mass distribution, and tail length, on the forces, moments, and momentum generated by the tail. Using the developed model, a control architecture is designed to regulate the motion of the tail and support the balancing and orientation of the main body. Finally, the proposed modeling, morphology optimization, and control methods are evaluated through different case studies, including inverted-pendulum stabilization assistance and free-falling body orientation control. The results demonstrate the potential of hyperredundant robotic tails as auxiliary mechanisms for dynamic balancing and provide a systematic framework for their design, modeling, and control.

Subject Keywords

bio-inspired robotics, robotic tail, underactuated systems, morphology optimization, dynamic balancing

URI

https://hdl.handle.net/11511/121015

Collections

Graduate School of Natural and Applied Sciences, Thesis