Stabilization of a hopper with three reaction wheels

Conference: ISR 2018 - 50th International Symposium on Robotics
06/20/2018 - 06/21/2016 at München, Germany

Proceedings: ISR 2018

Pages: 4Language: englishTyp: PDF

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Ryadchikov, Igor; Biryuk, Andrei; Sechenev, Semyon; Svidlov, Alexander; Volkodav, Pavel; Mamelin, Yury; Popko, Kirill (Kuban State University, 350040 Stavropolskaya, 149, Krasnodar, Russia)
Sokolov, Dmitry (UMR 7503, Université de Lorraine, CNRS, Vandoeuvre-lès-Nancy, France)
Nikulchev, Evgeny (Moscow Technological University (MIREA), 78 Vernadsky Avenue, Moscow 119454, Russia)

In this paper we present our ongoing hopping bot project. The hopper is stabilized with three reaction wheels; the main idea of the project is to develop a balancing system suitable for a dynamic stabilization of a bipedal walk for a nonanthropomorphic robot. We present an energy efficient hardware and software design of the stabilization system as well as a choice of electrical and mechanical parameters of the device.