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Stabilization of a hopper with three reaction wheels

Igor Ryadchikov 1 Dmitry Sokolov 2 Andrei Biryuk 1 Semyon Sechenev 1 Alexander Svidlov 1 Pavel Volkodav 1 Yury Mamelin 1 Kirill Popko 1 Evgeny Nikulchev 3 
2 ALICE - Geometry and Lighting
Inria Nancy - Grand Est, LORIA - ALGO - Department of Algorithms, Computation, Image and Geometry
Abstract : In this paper we present our ongoing hopping bot project. The hopper is stabilized with three reaction wheels; the main idea of the project is to develop a balancing system suitable for a dynamic stabilization of a bipedal walk for a non-anthropomorphic robot. We present an energy efficient hardware and software design of the stabilization system as well as a choice of electrical and mechanical parameters of the device.
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https://hal.inria.fr/hal-01927624
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Submitted on : Tuesday, November 20, 2018 - 7:43:45 AM
Last modification on : Thursday, January 20, 2022 - 5:26:12 PM

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Igor Ryadchikov, Dmitry Sokolov, Andrei Biryuk, Semyon Sechenev, Alexander Svidlov, et al.. Stabilization of a hopper with three reaction wheels. ISR 2018 - 50th International Symposium on Robotics, Jun 2018, Munich, Germany. ⟨hal-01927624⟩

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