A Review of Research on Falling Cat Phenomenon and Development of Bio-Falling Cat Robot

摘要

With the increasing demand of robots operating in three-dimensional and high-altitude environments, it is significant for the research on high altitude falling and safe landing of robot. This paper focuses on the “falling cat phenomenon” and the development of turning over principle of bio-cat falling. In view of structural models for the cat falling turning over with “Legs in-legs out”, “Tail turning theory”, “Tuck and turn” and “Multi-rigid-body theory” etc., important issues on the structure design, virtual prototype simulation and control design of bio-falling cat robot are comprehensively reviewed, and the development trend of the bio-cat falling robot applied to the safe landing at high altitude is pointed out.