Stabilization of a hopper with three reaction wheels

Igor Ryadchikov (1) , Dmitry Sokolov (2) , Andrei Biryuk (1) , Semyon Sechenev (1) , Alexander Svidlov (1) , Pavel Volkodav (1) , Yury Mamelin (1) , Kirill Popko (1) , Evgeny Nikulchev (3)

1 KubSU - Kuban State University
2 ALICE - Geometry and Lighting
3 MIREA - Russian Technological University

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 non-anthropomorphic 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.

Domaines: Robotique [cs.RO]

Igor Ryadchikov, Dmitry Sokolov, Andrei Biryuk, Semyon Sechenev, Alexander Svidlov, et al.. Stabilization of a hopper with three reaction wheels. ISR 2018 - 50th International Symposium on Robotics, Jun 2018, Munich, Germany. ⟨hal-01927624⟩