Guinea fowl Jumping Robot with Balance Control Mechanism: Modeling, simulation, and experiment results

Myeongjin Kim, Dongwon Yun

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

Recently, diverse research has actively been conducted to control the posture of jumping robots using an inertial tail mechanism. However, the inertial tail mechanism has a high probability of collision with obstacles. In this study, a momentum wheel mechanism is proposed to achieve the same attitude control performance while reducing the volume occupied by the inertial tail mechanism. To verify the performance of the momentum wheel mechanism, we proposed a jumping robot with a momentum wheel mechanism and performed a dynamic analysis, simulation, and experiments on a jumping robot with a momentum wheel mechanism. In addition, it has been demonstrated that the momentum wheel mechanism can contribute to control of the body angle of the jumping robot. As a result, the momentum wheel mechanism can enhance the stability of the jumping robot more than the tail mechanism, and the momentum wheel mechanism contributes to the attitude control of the body angle, which allows the jumping robot to perform continuous jumping.

Original languageEnglish
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages779-786
Number of pages8
ISBN (Electronic)9781728140049
DOIs
StatePublished - Nov 2019
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
Duration: 3 Nov 20198 Nov 2019

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Country/TerritoryChina
CityMacau
Period3/11/198/11/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

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