A Study on Posture Control and Soft Landing of a Free Falling Robot. 2nd Report. Postural Control and Soft Landing by Gas Jet.

摘要

The ROBOT CAT is a kind of 3D moving robot which can control its posture in the air like a cat and can perform soft landing. In the first report, the authors reported the concept of the ROBOT CAT, its control method using turning motion of cat, and the experimental result. This paper describes the modeling and control method of ROBOT CAT in a near-normal attitude after posture control with a turning motion of cat. Allocation of nozzles is proposed. Thus, posture control and soft landing are executed by exhausting high-pressure gas through the allocated nozzle downwards. According to the results of computer simulation, it is confirmed that hovering and 3D traveling are possible. The experimental results of hovering are also shown in this paper.