Monopod robot prototype with reaction wheel for hopping and posture stabilisation

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

doi:10.1504/IJMA.2021.120383

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

School of Mechatronical Engineering

Research output: Contribution to journal › Article › peer-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 language	English
Pages (from-to)	163-174
Number of pages	12
Journal	International Journal of Mechatronics and Automation
Volume	8
Issue number	4
DOIs	https://doi.org/10.1504/IJMA.2021.120383
Publication status	Published - 2021

Keywords

Hopping
LQR
Linear quadratic regulator
Monopod robot
Posture stabilisation
Reaction wheel

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10.1504/IJMA.2021.120383

Cite this

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title = "Monopod robot prototype with reaction wheel for hopping and posture stabilisation",

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.",

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author = "Asahi Anzai and Toshihide Doi and Kazuki Hashida and Xuechao Chen and Lianqiang Han and Kenji Hashimoto",

note = "Publisher Copyright: {\textcopyright} 2021 Inderscience Enterprises Ltd.",

year = "2021",

doi = "10.1504/IJMA.2021.120383",

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T1 - Monopod robot prototype with reaction wheel for hopping and posture stabilisation

AU - Anzai, Asahi

AU - Doi, Toshihide

AU - Hashida, Kazuki

AU - Chen, Xuechao

AU - Han, Lianqiang

AU - Hashimoto, Kenji

PY - 2021

Y1 - 2021

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AB - 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.

KW - Hopping

KW - LQR

KW - Linear quadratic regulator

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KW - Posture stabilisation

KW - Reaction wheel

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JO - International Journal of Mechatronics and Automation

JF - International Journal of Mechatronics and Automation

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ER -

Monopod robot prototype with reaction wheel for hopping and posture stabilisation

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Keywords

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