ジャイロ搭載型球体ロボットの直進運動制御

抄録

This paper deals with the problem of controlling a spherical rolling robot that has a new driving mechanism equipped with a gyro. The translational motion of the robot is caused by transmission of angular momentum from the gyro to a spherical outer shell of the robot. A feedback controller that makes the robot achieve a straight motion is designed based on the equations of motion for the robot. The effectiveness of the controller is demonstrated by experimental results.