Monopod robot prototype with reaction wheel for hopping and posture stabilisation

Asahi Anzai*, Toshihide Doi, Kazuki Hashida, Xuechao Chen, Lianqiang Han, Kenji Hashimoto

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

Abstract

The purpose of this study is to develop a one-legged hopping robot, which has the fewest number of legs as a legged robot, and to realise hopping motion, upright posture stabilisation and getting up. The long-term goal is to develop biped robots and multi-legged robots capable of jumping and running. We designed and fabricated an electrically driven 2-DoF monopod MH-1 with pitch axes at the hip and knee joints equipped with a reaction wheel. MH-1 realised hopping while the robot is constrained so that it could only move in the vertical direction. We also proposed a control method for upright posture stabilisation and getting up of a monopod robot using a reaction wheel. MH-1 realised getting up and stabilising its upright posture within the range of the motor characteristics.

Original languageEnglish
Pages (from-to)163-174
Number of pages12
JournalInternational Journal of Mechatronics and Automation
Volume8
Issue number4
DOIs
Publication statusPublished - 2021
Externally publishedYes

Keywords

  • Hopping
  • Linear quadratic regulator
  • LQR
  • Monopod robot
  • Posture stabilisation
  • Reaction wheel

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computational Mechanics
  • Industrial and Manufacturing Engineering
  • Computational Mathematics
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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