Stabilization of a hopper with three reaction wheels

International audienceIn this paper we present our ongoing hopping bot project. The hopper is stabilized with three reaction wheels; the main idea of the project is to develop a balancing system suitable for a dynamic stabilization of a bipedal walk for a non-anthropomorphic robot. We present an energy efficient hardware and software design of the stabilization system as well as a choice of electrical and mechanical parameters of the device