Using a tail-like appendage system to control roll movement in wheeled robots

The use of a tail-like system has proven to be an effective method in stabilizing and self-righting the pitch in bio-inspired robots. The ability of high-end robots to perform complex tasks for reasoning and decision making while having a complete autonomous control upon the rest of their bodies is vital. That´s why in this paper we present an approach for correcting roll deviations as a reactive behavior in wheeled robots. A mathematical model is introduced to prove that the angular momentum generated by the tail can equilibrate the roll produced in the body of the robot. A wheeled automaton with an inertial sensor and a tail-like system was built.