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A robot may be at the risk of falling from a high place when it works in an unknown complex environment, so the attitude control ability of the robot in the air should be considered to reduce the damage caused by the wrong dropping posture. When a cat drops in the upside-down posture with zero angular momentum, it can always right itself and land on its feet safely. Inspired by this biological phenomenon,...
The attitude control ability of the robot in the air is needed when we design a robot that can jump, run, climb and land. With such a robot, we can reduce the damage caused by the wrong dropping posture. As we all know, when a free-falling cat drops from upside-down with no initial angular momentum, she can always right herself and land on her feet safely. Inspired by the free-falling cat, we studied...
This paper deals with twisting motion of a falling cat robot by two torque inputs around her waist. The cat robot consists of two rigid columns and has internally two actuators at the joint to generate torque inputs around the normal coordinates. This system is a nonholonomic system whose angular momentum is conserved. We obtain the Lagrange's equation of motion with nonholonomic constraint and formulate...
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