Reorientation manoeuvres for a free falling robot inspired from the cat righting reflex

This video presents two distinct manoeuvres allowing an articulated robot in free fall to change its orientation while keeping the same initial and final configuration. With realistic joint limitations, the robot, which includes rotary actuators only, can perform a 180 degree reorientation about its longitudinal axis, similar to the cat righting reflex. The second manoeuvre allows the robot to accomplish rotations of smaller magnitude about a different axis. Finally, it is shown that the two manoeuvres, which yield rotations about fixed axes, can be repeated and alternated to enable the robot to reach any arbitrary 3-D orientation.
The material presented in the video is described in detail in the following journal article:
Garant, X., & Gosselin, C. (2020). Design and Experimental Validation of Reorientation Manoeuvres for a Free Falling Robot Inspired From the Cat Righting Reflex. IEEE Transactions on Robotics, 37(2), 482-493. ieeexplore.iee...

[@abdullahcakan]

Perfect mechanism and project 👍