Abstract
This article proposes an aerial attitude control using reaction wheel mechanism for hopping robots. In the proposed system, the reaction wheel is also used as tires while the robot is running on the ground. Taking into consideration acceleration disturbance in jumping and landing that affects attitude angle estimation using complementary filters, the filter bandwidth is experimentally designed to be 0.5 Hz. In the experiment, the mean and the standard deviation of tracking error of the pitch angle in a static condition were respectively -1.79×10-3 rad and 2.21×10-2 rad when the robot was supported at the center of gravity of the total system including the robot body and wheels so as to freely rotate around an axis, and the validity of the proposed method has been proved.
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