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What is Angle of Rotation in Flight

Chapter 3
Control and Signal Processing Applications for Mobile and Aerial Robotic Systems
Greatest angle at which the robot body rotates relative to the angle at the time of the jump while taking off the surface.
Published in Chapter:
Approaches to Development of Mechanical Design and Jumping Motion for a Wheeled Jumping Robot
Lyudmila Yurievna Vorochaeva (Southwest State University, Russia), Sergey Igorevich Savin (Innopolis University, Russia), Andrei Vasilievich Malchikov (Southwest State University, Russia), and Andres Santiago Martinez Leon (Southwest State University, Russia)
Copyright: © 2020 |Pages: 38
DOI: 10.4018/978-1-5225-9924-1.ch003
Abstract
This chapter is dedicated to tackling the issues related to the design and locomotion control of a hybrid wheeled jumping monitoring platform. The studied robot consists of a body mounted on a wheeled platform and of a jump acceleration module. An approach to making design decisions regarding the structure of the investigated robot is proposed. To select the kinematic structure of the robot, classifications of possible variants of hybrid jumping platforms and accelerating modules are presented. Methods for controlling the function of the accelerating modules and the analysis of their work is carried out. Various implementations of jumping motion are discussed; these implementations are characterized by different combinations of relative links movements during various stages of motion. Each of the proposed jump motion types requires the development of a control system, which is also discussed in this chapter.
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