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

Title
Guinea fowl Jumping Robot with Balance Control Mechanism: Modeling, simulation, and experiment results
Authors
Kim, MyeongjinYun, Dongwon
DGIST Authors
Yun, Dongwon
Issue Date
2019-11-05
Citation
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, 779-786
Type
Conference
ISBN
9781728140049
ISSN
2153-0858
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. © 2019 IEEE.
URI
http://hdl.handle.net/20.500.11750/11578
DOI
10.1109/IROS40897.2019.8967968
Publisher
Institute of Electrical and Electronics Engineers Inc.
Related Researcher
  • Author Yun, Dongwon Bio Robotics and Mechatronics Laboratory
  • Research Interests Biomimetic Robot; Soft Robotics; Robot elementary technology : Sensors and actuators; Study on the medical application; Study on the industrial application
Files:
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Collection:
Department of Robotics EngineeringBio Robotics and Mechatronics Laboratory2. Conference Papers


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