Monopod robot prototype with reaction wheel for hopping and posture stabilisation

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

*この研究の対応する著者

研究成果: Article査読

抄録

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.

本文言語English
ページ(範囲)163-174
ページ数12
ジャーナルInternational Journal of Mechatronics and Automation
8
4
DOI
出版ステータスPublished - 2021
外部発表はい

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 計算力学
  • 産業および生産工学
  • 計算数学
  • 人工知能
  • 電子工学および電気工学

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