Development of a hopping robot with two oblique inertial rotors which made a pair (2nd report)

―Hopping motion in front, rear, left and right direction in three-dimensional space―

Abstract

We developed a hopping robot using two oblique inertial rotors. The robot has 4 DOF, and consists of a body, one leg and two oblique inertial rotors. The robot can move three dimensional space using the inertial rotors. This paper shows the realization walking control using two inertial rotors. We conducted an experiment to simultaneously perform walking and balance maintenance. The results and considerations are described.