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In this work we present a Four-Wheeled Independent Drive and Steering (4WIDS)robot named AGRO and a method of controlling its orientation while airborneusing wheel reaction torques. This is the first documented use of independentlysteerable wheels to both drive on the ground and achieve aerial attitudecontrol when thrown. Inspired by a cat's self-righting reflex, this capabilitywas developed to allow emergency response personnel to rapidly deploy AGRO bythrowing it over walls and fences or through windows without the risk of itlanding upside down. It also allows AGRO to drive off of ledges and ensure itlands on all four wheels. We have demonstrated a successful thrown deploymentof AGRO. A novel parametrization and singularity analysis of 4WIDS kinematicsreveals independent yaw authority with simultaneous adjustment of the ratiobetween roll and pitch authority. Simple PD controllers allow for stabilizationof roll, pitch, and yaw. These controllers were tested in a simulation usingderived dynamic equations of motion, then implemented on the AGRO prototype. Anexperiment comparing a controlled and non-controlled fall was conducted inwhich AGRO was dropped from a height of 0.85 m with an initial roll and pitchangle of 16 degrees and -23 degrees respectively. With the controller enabled,AGRO can use the reaction torque from its wheels to stabilize its orientationwithin 402 milliseconds.

Dynamics and Aerial Attitude Control for Rapid Emergency Deployment of the Agile Ground Robot AGRO