Reorientation of Free-Falling Legged Robots

Abstract Based on the cat-righting reflex, this paper presents two reorientation maneuvers for legged robots that can produce roll and pitch during free fall. In order to better describe plan these maneuvers, separate, but equivalent, theoretical frameworks kinematic dynamic behavior of free-floating articulated architectures are explored developed. A nine-degree-of-freedom quadruped robot architecture is then presented used demonstrate proposed maneuvers. Finally, simulations performed. The results validate framework both reorientations obtained through application