Abstract
This paper proposes an aerial attitude control of a practical hopping robot in consideration of acceleration disturbance in taking-off and landing. The proposed system uses reaction wheels to control the attitude, and as a first step of development, an attitude control unit with no hopping mechanism to stabilize the pitch angle has been prototyped for evaluation (Prototype II). The reaction wheels can be used as tires when the robot runs on the grounds. Since the acceleration of gravity used in calculating static attitude angles cannot be observed in free fall, a dynamic attitude angle obtained from gyro sensor is temporarily fed back to the controller for flight duration of about 0.5 s. An experiment, where the robot is horizontally catapulted in the air at an angle of elevation of 30°, has been conducted, and the results showed that the proposed attitude controller can keep the robot orientation almost all horizontal during the flight. Future works will be to develop a hopping mechanism and to integrate it to the attitude control unit to realize a practical hopping robot.
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Nomura, Y., Ishikawa, J. (2018). Aerial Attitude Control of Hopping Robots Using Reaction Wheels: Evaluation of Prototype II in the Air. In: Duy, V., Dao, T., Zelinka, I., Kim, S., Phuong, T. (eds) AETA 2017 - Recent Advances in Electrical Engineering and Related Sciences: Theory and Application. AETA 2017. Lecture Notes in Electrical Engineering, vol 465. Springer, Cham. https://doi.org/10.1007/978-3-319-69814-4_35
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DOI: https://doi.org/10.1007/978-3-319-69814-4_35
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