Articulated multi-link robotic tail systems and methods

An articulated multi-link robotic tail (MLRT) system comprising:

• a rigid housing;
• an actuation unit coupled to the rigid housing and having a plurality of segment actuators and at least one roll-degree of freedom (DOF) actuator, each segment actuator comprising a segment gear motor mechanically coupled to a pulley having at least one cable channel that holds a respective cable, the roll-DOF actuator comprising a roll-DOF gear motor mechanically coupled to the rigid housing, wherein actuation of the roll-DOF gear motor in a predetermined manner imparts a predetermined degree of roll to the rigid housing;
• and
• a multi-link robotic tail (MLRT) having a proximal end that is coupled to the rigid housing and a distal end opposite the proximal end, the MLRT comprising N segments that are coupled together such that an end of each segment is coupled to an end of another of the segments, where N is a positive integer that is greater than or equal to one, each segment comprising i links that are coupled together such that an end of each link is coupled to an end of another of the links, where i is a positive integer that is greater than or equal to two, each link being mechanically coupled to one of the segment actuators via at least one of the cables and capable of being actuated by the segment actuator to adjust a pitch and yaw of the MLRT.

A method using an articulated multi-link robotic tail (MLRT) system to maneuver and stabilize a mobile robot, the method comprising:

• providing the mobile robot having an articulated MLRT system integrated therein, the MLRT system comprising a rigid housing, an actuation unit coupled to the rigid housing and an MLRT having a proximal end that is coupled to the rigid housing and a distal end opposite the proximal end, the MLRT comprising N segments, where N is a positive integer that is greater than or equal to one, each segment comprising i links, where i is a positive integer that is greater than or equal to two, each segment being mechanically coupled to an actuator of the actuation unit and capable of being actuated by the actuator to adjust a pitch, yaw and roll of the MLRT, wherein the actuator comprises:
• a segment gear motor mechanically coupled to a pulley having at least one cable channel that holds a respective cable, each cable being routed along the links in a preselected routing configuration such that actuation of the cables in a predetermined manner causes the MLRT to have a predetermined pitch and yaw, wherein the actuator comprises a roll-degree of freedom (DOF) gear motor mechanically coupled to a spur gear that is mechanically coupled to the rigid housing, wherein actuation of the roll-DOF gear motor in a predetermined manner imparts a predetermined degree of roll to the rigid housing;
• and
• as the mobile robot moves, using the actuators to adjust the pitch, yaw and roll of the MLRT in a way that assists in stabilization and maneuvering of the mobile robot.

An articulated multi-link robotic tail (MLRT) system comprising:

• a rigid housing;
• an actuation unit coupled to the rigid housing;
• and
• a multi-link robotic tail (MLRT) having a proximal end that is coupled to the rigid housing and a distal end opposite the proximal end, the MLRT comprising N segments, where N is a positive integer that is greater than or equal to one, each segment comprising i links, where i is a positive integer that is greater than or equal to two, each link being mechanically coupled to one or more actuators of the actuation unit and capable of being actuated by the one or more actuators to adjust at least one of a pitch, yaw and roll of the MLRT, wherein N actuators of the one or more actuators comprise:
• a segment gear motor mechanically coupled to a pulley having at least one cable channel that holds a respective cable, each cable being routed along the links in a preselected routing configuration such that actuation of the cables causes the MLRT to have a pitch and yaw, wherein at least one of the one or more actuators comprises a roll-degree of freedom (DOF) gear motor mechanically coupled to a spur gear that is mechanically coupled to the rigid housing, wherein actuation of the roll-DOF gear motor imparts a degree of roll to the rigid housing.