Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots.For legged robots, aerial motions are the only option to overpass obstacles that cannot be circumvented with standard locomotion gaits.  This paper focuses on the latter issue and proposes an Orientation Control System (OCS), consisting of two rotating and actuated masses (flywheels or reaction wheels), to gain control authority on the orientation of the robot.  The axes of rotation of the flywheels are designed to be incident, leading to a compact orientation control system that is capable of controlling both roll and pitch angles, considering the different moments of inertia in the two directions. 
Orientation Control System
This paper focuses on the latter issue and proposes an Orientation Control System (OCS), consisting of two rotating and actuated masses (flywheels or reaction wheels), to gain control authority on the orientation of the robot. 
OCS