Abstract
Cylinder has characteristic dynamics such as rolling with lateral side or edges. The authors developed a new type of mobile robot inspired by cylinder dynamics. This robot has two antithetical mobile modes like a cylinder. In one mode, robot is statically stable instead of few degree of freedom, whereas another mode requires dynamical stability but causes high mobility. In this paper, we attempt to control this robot using eccentric rotor without gyroscope and applying linear or nonlinear control theory. This article describes the characterization of edge rolling and experimental results examined by real robot.
