Monopod robot prototype with reaction wheel for hopping and posture stabilisation. (18th January 2022)

• Record Type: Journal Article
• Authors: Anzai, Asahi; Doi, Toshihide; Hashida, Kazuki; Chen, Xuechao; Han, Lianqiang; Hashimoto, Kenji
• Is Part Of: International journal of mechatronics and automation. Volume 8:Number 4(2021)
• Page Start: 163
• Page End: 174
• Publication Date: 2022-01-18
• Subjects: monopod robot -- hopping -- reaction wheel -- linear quadratic regulator -- LQR -- posture stabilisation; Mechatronics -- Periodicals; Automation -- Periodicals; 629.8905
• Languages: English
• ISSNs: 2045-1059

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.