Development of a lightweight expansion mechanism using a convex tape

- Expansion control by attitude correction -

Abstract

An expansion mechanism with convex tapes has been developed for a compact mobile robot. Algorithm of continuous posture control is developed by using the data of an acceleration sensor on a top plate. A span of the support rib is considered. A basic experiment of the improved control method has been confirmed. Next, smoother expansion control will be developed and the expansion mechanism will be mounted on a mobile robot to verify the effectiveness.