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For legged robots, aerial motions are the only option to overpass obstaclesthat cannot be circumvent with standard locomotion gaits. In these cases, therobot must perform a leap to either jump onto the obstacle or fly over it.However, these movements represent a challenge because during the flight phasethe Center of Mass (CoM) cannot be controlled, and the robot orientation haslimited controllability. This paper focuses on the latter issue and proposes anOrientation Control System (OCS) consisting of two rotating and actuated masses(flywheels or reaction wheels) to gain control authority on the robotorientation. Because of the conservation of angular momentum, their rotationalvelocity can be adjusted to steer the robot orientation even when there are nocontacts with the ground. The axes of rotation of the flywheels are designed tobe incident, leading to a compact orientation control system that is capable ofcontrolling both roll and pitch angles, considering the different moment ofinertia in the two directions. We tested the concept with simulations on therobot Solo12.

Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots