Modeling and control of cylindrical mobile robot
説明
Cylinders exhibits characteristic dynamic behavior such as rolling with lateral-side or edges. In this paper, we propose a new type of rolling mobile robot with cylindrical aspect, which performs two contrastive modes of motion due to the geometry of its shape. In the first mode called lateral-side rolling, the robot is statically stable except few degree of freedom, whereas the robot is only dynamically stable in the other mode (called edge-rolling) and has potential of high mobility. In this work, we attempt to control this robot using an eccentric rotor without gyroscope and applying linear or nonlinear control theory.
収録刊行物
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- 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
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2012 IEEE/RSJ International Conference on Intelligent Robots and Systems 5321-5326, 2012-10-01
IEEE