Attitude Control by Using the Movement of Center of Gravity for the Legged Air Vehicle

摘要: In the case of large-scale accident or disaster such as earthquake, search/rescue robots are required to gather information and save lives in dangerous areas for humans. our previous studies, Legged Air Vehicle was designed built search operations at a site. It is equipped with four legs tandem rotor, be operated various environments by combining flight walking. flight, attitude controlled moving center gravity turning order reduce number actuators. this paper, new algorithm movement suggested, controller redesigned accordingly. Also, control installed on robot its performance validated experiments.