Researchers use a reaction wheel actuator system to make a quadruped robot walk on a narrow balance beam.
," has been approved for presentation at the 2023 International Conference on Robotics and Automation, which will take place in London from May 29 to June 2.quadruped robots
include a torso and four legs that each end in a rounded foot, allowing the robot to traverse basic, flat surfaces and even climb stairs. However, quadruped robots do not have instinctive agility like four-legged animals. If only one or two feet are on the ground, the robot can't easily correct for disturbances and has a much higher risk of falling.
To address this, the team employs a Reaction Wheel Actuator system that mounts to the back of a quadruped robot. With the help of a novel control technique, the RWA allows the robot to balance independently of the positions of its feet. RWAs are widely used in the aerospace industry to controlThe team prototyped their approach by mounting two RWAs on a commercial Unitree A1 robot, providing control over the robot's angular momentum.
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