楕円体転がりロボットの運動解析

抄録

In this paper, we perform dynamic motion analysis of a series of ellipsoidal rolling robots, which the authors developed in our previous work. Each robot has an hemi-ellipsoidal shell with various curvature parameters, equipped with a 2-d.o.f. pendulum with a weight inside it. We thoroughly examined rocking, rolling and locomotion behavior of the robots using optical motion capture system, and observed a phenomenon that the direction of yaw rotation alternates depending on its assymmetric resonance behavior.