抄録
The purpose of this research is for the control of the rotational maneuvers of a robot in midair. The methods of rotational maneuvers divide into 2 groups. One group uses nonzero initial angular momentum, and the other group uses zero angular momentum. In this paper the authors confirm experimentally that a robot can turn over with zero angular momentum without any external forces. And the control method of the rotational maneuvers of a jumping robot in midair is discussed. Rotational maneuvers are made up by a change of the inertia moment of the robot about the axis of the center of gravity. The authors also propose a way to calculate joint trajectories of the robot approximately by giving the initial and the final value of its configuration angles and joint variables.
