Tail Assisted Dynamic Self Righting

Tail Assisted Dynamic Self Righting:

This video is a demonstration of two robots, the 160g Tailbot (a 4 wheeled robot) and the 8.1kg XRL (a RHex hexapedal robot), using their inertial tails to perform aerial self righting behaviors. This work was presented at CLAWAR 2012, and the paper can be found here:

http://kodlab.seas.upenn.edu/Aaron/CLAWARTails
Tailbot, and its biological inspiration, were introduced here:

http://www.youtube.com/watch?v=s2Lk_2YCtA4
XRL is a lighter version of X-RHex, introduced here:

http://www.youtube.com/watch?v=VL0aiQAm4RU