ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2A1-N05
会議情報
2A1-N05 円筒型移動ロボットの3次元運動解析(特殊移動ロボット(1))
平野 哲郎石川 将人大須賀 公一
著者情報
会議録・要旨集 フリー

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抄録
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.
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© 2012 一般社団法人 日本機械学会
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