Compact Posture Control System for Jumping Robot Using an Air Reaction Wheel

In this article, we propose a novel balance control method called air reaction wheel (ARW) for a small-scale legged jumping robot, which can generate high torque while being compact and lightweight. The ARW generates torque in the same direction through the combination of the torque induced by pushi...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics 2024, p.1-12
Hauptverfasser:	Kim, Myeongjin, Kim, Jisu, Yun, Dongwon
Format:	Artikel
Sprache:	eng
Schlagworte:	Air reaction wheel Blades compact and lightweight design high torque design Impellers jumping robot Mathematical models posture control Robots Tail Torque Wheels
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