2球体を用いた移動ロボットの開発

―球体駆動と動力学のMATLABシミュレーション―

抄録

In this paper, we propose a dynamically balancing robot on the double ball and a ball driving method of it. It is possible that ball balancing robots move omnidirectionally with small footprint. Moreover, using double ball enables it to improve moving performance on discontinuous rough terrain without increasing footprint and complexity of the mechanism. This paper reports a driving ball method in the plurality of wheels and dynamic equations of unstable Double Ball Balancing Robot.