抄録
This paper describes the design concept of a step traversing two wheeled mobile robot aiming at extending the traversable workspace of a conventional two wheeled robot. We propose a novel control scheme for attitude control during flight. By actively controlling the drive wheels of the robot during flight, we hypothesize that we are able to generate correction torque to alter the flight dynamics of the robot and ensure a safe landing. The proposed approach is simulated using physics simulation engine and a physical prototype is constructed to confirm simulation findings. We present the design attributes of the robot taken into consideration when constructing the experimental prototype.
