Using a compliant, unactuated tail to manipulate objects

Using a compliant, unactuated tail to manipulate objects We demonstrate manipulation of objects using the dynamics of a ropelike structure attached to a mobile robot as a passive tail. Three challenges arise in modeling and planning: the physics involved is nontrivial, the tail is underactuated, and motions of the object are nondeterministic. For such systems, some actions are wellcharacterized by a simplified motion model for dragging objects), but we resort to datadriven methods for others (e