Dolly Transport Experiment Using One Actuator Robot

Abstract

　Inspired by the motions of the snakeboard, this paper considers the application of the propulsion mechanism with the sole actuator to the transportation. This mechanism obtains the propulsion force from the rotor rotation. However, this rotor does not necessarily rotate if the counter force is obtained from the rotor. Based on this idea, we tackle the transportation where the one-actuator robot conveys a dolly by connecting the bottom of dolly to the rotor of the robot. Then, we propose a connecting method that can absorb the difference of the height between the robot and dolly. To verify the transportation with the commercial dolly, the one-actuator robot is manufactured. Using this robot, we demonstrate the actual transportations by some experiments.