Dynamics and Aerial Attitude Control for Rapid Emergency Deployment of the Agile Ground Robot AGRO
Daniel J. Gonzalez,Mark C. Lesak,Andres H. Rodriguez,Joseph A. Cymerman,Christopher M. Korpela,Daniel J. Gonzalez,Mark C. Lesak,Andres H. Rodriguez,Joseph A. Cymerman,Christopher M. Korpela
In this work we present a Four-Wheeled Independent Drive and Steering (4WIDS) robot named AGRO and a method of controlling its orientation while airborne using wheel reaction torques. This is the first documented use of independently steerable wheels to both drive on the ground and achieve aerial attitude control when thrown. Inspired by a cat's self-righting reflex, this capability was developed ...
