This is a project that was done for MAS.864 Nature of Mathematical Modelling taught at the MIT Media Lab by Prof. Neil Gershenfeld, from the text of the same name.

Overall, the idea is to construct a simple model of a prehensile tail that could actually be constructed.  The tail should have a reasonable range of movement, and should avoid complicated mechanical systems.

The following pages gives the work to date:

• Original Proposal
• Dynamic Model and Justifications
• Simulation of Dynamic Model
• Controller Model and Search Strategy
• Demonstration of Found Controllers
• Future Work
• References and Acknowledgements

Latest Project Update

This project is currently on hold as I take a much needed break. However, given some free time, I hope to implement at least a few of the ideas mentioned in the future work section.