Study on the Compact Balance Control Mechanism for Guinea Fowl Jumping Robot

摘要

We developed a guinea fowl jumping robot with a one-axis momentum wheel mechanism with a passive hallux model. The Guinea fowl jumping robot was able to perform stable vertical jumping due to the linkage structure designed as a passive hallux model. Furthermore, we used the one-axis momentum wheel mechanism in the jumping robot for making the compact balance control mechanism that can control the body angle of the robot. Through the experiment, the conventional jumping robot uses the inertial tail to adjust the body angle in the air for stable landing and jumping. However, in the case of an inertial tail, it has a large volume and has a disadvantage in that stability is highly reduced when it collides with obstacles due to the shape of the inertial tail. Moreover, we performed a theoretical analysis, simulation, and experiment to verify the performance of the momentum wheel mechanism, and we confirmed that the passive hallux structure contributed to the jumping stability. Besides, we proved that the momentum wheel could adequately land on the ground by adjusting the body angle after vertical jumping. In addition, we demonstrated that the stability of the momentum wheel is higher than the inertial tail through collision simulation.