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Title: Monopod robot prototype with reaction wheel for hopping and posture stabilisation

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

Addresses: Graduate School of Science and Engineering, Meiji University, 1-1-1 Higashi-Mita, Tama-ku, Kawasaki-shi, Kanagawa, Japan ' Graduate School of Science and Engineering, Meiji University, 1-1-1 Higashi-Mita, Tama-ku, Kawasaki-shi, Kanagawa, Japan ' Graduate School of Science and Engineering, Meiji University, 1-1-1 Higashi-Mita, Tama-ku, Kawasaki-shi, Kanagawa, Japan ' School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China ' School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China ' Department of Mechanical Engineering Informatics, Meiji University, 1-1-1 Higashi-Mita, Tama-ku, Kawasaki-shi, Kanagawa, Japan

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.

Keywords: monopod robot; hopping; reaction wheel; linear quadratic regulator; LQR; posture stabilisation.

DOI: 10.1504/IJMA.2021.120383

International Journal of Mechatronics and Automation, 2021 Vol.8 No.4, pp.163 - 174

Received: 13 Sep 2021
Accepted: 09 Oct 2021
Published online: 18 Jan 2022 *