Four-Wheeled Hopping Robot with Attitude Control

Autor:	Takashi Kubota, Shingo Shimoda, Ichiro Nakatani
Rok vydání:	2004
Předmět:	Attitude control General Computer Science Computer science Control theory Robot Control engineering Electrical and Electronic Engineering Robot control
Zdroj:	Journal of Robotics and Mechatronics. 16:319-326
ISSN:	1883-8049 0915-3942
DOI:	10.20965/jrm.2004.p0319
Popis:	Because a hopping robot moves long distances at minimum energy and can observe its surrounding from high points when it jumps, it is expected to explore microgravity environments effectively. Despite the importance of attitude control in such exploratory robots, few attitude control mechanisms have been proposed. This paper proposes a four-wheeled hopping robot that hops horizontally and lands without bouncing. Its wheels are applied to attitude control in the air. A simulation study and free-fall experiments verified the feasibility of the proposed mobility and the applicability of the robot.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::4aa529072d78484edc18a24d4cfaeea1 https://doi.org/10.20965/jrm.2004.p0319 Zobrazit plný text záznamu