2個のホイール駆動による球体の運動制御

抄録

A ball-driven mechanism is used for RoboCup middle size soccer robots for the control of the soccer ball. The ball-driven mechanism has two actuated wheels. The arrangement of the two actuated wheels has been dicusssed for a certain extent. However detailed and quantitative analysis has not been done yet. The paper discusses general motion of sphere by the ball driven mechanism. Several mechanisms such as in CAMBADA (Portugal), Tech United (Holland team robot), Hibikino-Musashi (Japanese, KIT robot) and Water (Chinese team robot) are discussed based on the analysis. The analysis maily focuses on geometrical consideration for the set of end-points for the angular velocity vector.