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A Palm-Sized Omnidirectional Mobile Robot Driven by 2-DOF Torus Wheels
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- Sato, Yunosuke
- Department of Mechanical Engineering, Toyohashi University of Technology
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- Kanada, Ayato
- Department of Mechanical Engineering, Kyushu University
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- Mashimo, Tomoaki
- Graduate School of Natural Science and Technology, Okayama University
Description
This letter proposes a palm-sized omnidirectional mobile robot with two torus wheels. A single torus wheel is made of an elastic elongated coil spring in which the two ends of the coil connected each other and is driven by a piezoelectric actuator (stator) that can generate 2-degrees-of-freedom (axial and angular) motions. The stator converts its thrust force and torque into longitudinal and meridian motions of the torus wheel, respectively, making the torus work as an omnidirectional wheel on a plane. In this paper, we build a control system of a piezo-driven 2-degrees-of-freedom torus wheel and evaluate its performance measures, such as the transient characteristics, the orientation accuracy and the payload capacity. An omnidirectional robot with the two torus wheels is constructed, and the feedback control for a desired planar motion is demonstrated. The design inspired by a ring torus represents the possibility toward the creation of an unprecedentedly simple, light, and compact 2-wheel omnidirectional robot.
Journal
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- IEEE Robotics and Automation Letters
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IEEE Robotics and Automation Letters 8 (1), 105-112, 2022-11-18
Institute of Electrical Electronics Engineers（IEEE）
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Keywords
Details 詳細情報について
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- CRID
- 1050583790043119488
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- ISSN
- 23773766
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- HANDLE
- 2324/7172240
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- Text Lang
- en
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- Article Type
- journal article
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- Data Source
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- IRDB