Proposal of Arc-shaped Sliding Locomotion Robot with Wobbling Mass

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Other Title
  • 揺動質量を用いた円弧型滑りロボットの提案
  • -Locomotion Generation and Dynamics Analysis-
  • ―運動生成とダイナミクスの分析―

Description

<p>Towards generating stable and efficient locomotion on a slippery ground, several indirectly controlled sliding robots have been designed in the previous works. Although numerical simulations have shown the possibility of achieving high-speed forward sliding locomotion, it is difficult to realize similar performance with a real machine due to unexpected behavior of their telescopic wobbling motion. In addition, it is also inefficient to conduct optimization process for them due to their redundant parameters. In this work, we introduce a minimalistic model for a sliding locomotion robot. The telescopic wobbling motion is replaced by a rotating motion while its strong propulsive force is maintained. Equations of motion are analytically derived and the validity is numerically proven.</p>

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